IEEE Catalog Number: ISBN:

CFP15775-POD 978-1-4673-9108-5

2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2015)

Busan, South Korea 7-11 July 2015

Pages 1-902

1/2

Content List of 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Technical Program for Tuesday July 7, 2015

TuAT2 207-2 Underwater Robotics Applications (Workshop)

09:30-12:00 TuAT2.1 Underwater Robotics Applications*.

Baek, Woon Kyung Pukyong National Univ Ha, Kyoung Nam Korea Inst. of Industrial Tech

TuBT1 207-1 Recent Advances in Mechatronics for Intelligent Manufacturing (Workshop)

13:00-16:45 TuBT1.1 Recent Advances in Mechatronics for Intelligent Manufacturing*.

Lee, Kok-Meng Georgia Inst. of Tech TuCT2 207-2 Rehabilitation and Medical Robotics (Workshop)

14:00-17:30 TuCT2.1 Rehabilitation and Medical Robotics *.

Bae, Joonbum UNIST

Technical Program for Wednesday July 8, 2015

WeAT1 201 Machine Vision (Regular Session)

Chair: Priggemeyer, Marc RWTH-Aachen Univ Co-Chair: Ha, Cheolkeun Univ. of Ulsan

08:45-09:05 WeAT1.1 Hand-Eye Calibration Using Stereo Camera through Pure Rotations -Fitting Circular Arc in 3D Space with Joint Angle Constraint, pp. 1-6.

Li, Jianhua Tokyo Inst. of Tech Endo, Gen Tokyo Inst. of Tech Fukushima, Edwardo F. Tokyo Univ. of Tech

09:05-09:25 WeAT1.2 Unknown Object Grasping Using Force Balance Exploration on a Partial Point Cloud, pp. 7-14.

Lei, Qujiang Delft Univ. of Tech Wisse, Martijn Delft Univ. of Tech

09:25-09:45 WeAT1.3 Pose Estimation and Trajectory Calculation for Autonomous Close-Range Rendezvous and Docking, pp. 15-20.

Priggemeyer, Marc RWTH-Aachen Univ Dimartino, Magdalena Inst. for Man-Machine

Interaction, RWTH Aachen Univ Rossmann, Juergen RWTH Aachen Univ

09:45-10:05 WeAT1.4 Detection of Pedestrian Crossing Road Using Action Classification Model, pp. 21-24.

Hariyono, Joko Univ. of Ulsan Jo, Kang-Hyun Univ. of Ulsan

10:05-10:25 WeAT1.5 An Efficient Approach for Circular Shape Target Recovery, pp. 25-28.

Tran, Thi Trang Univ. of Ulsan Ha, CheolKeun Univ. of Ulsan

10:25-10:45 WeAT1.6 Automatic Landing for Fixed-Wing UAV Using Stereo Vision with a Single Camera and an Orientation Sensor: A Concept, pp. 29-34.

Sereewattana, Montika Kasetsart Univ Ruchanurucks, Miti Kasetsart Univ Rakprayoon, Panjawee Kasetsart Univ Siddhichai, Supakorn Nectec, Nstda Hasegawa, Shoichi Tokyo Inst. of Tech

WeAT2 202 Computational Models and Methods (Regular Session)

Chair: Pagliarini, Luigi DTU Co-Chair: Kusaka, Takashi Hokkaido Univ

08:45-09:05 WeAT2.1 Valve Dynamics in Multi-Cylinder Positive Displacement Pump Model, pp. 35-41.

Josifovic, Aleksandar Univ. of Strathclyde Corney, Jonathan Heriot-Watt Univ Davies, Bruce Heriot-Watt Univ

09:05-09:25 WeAT2.2 Residual Correction Method for Fast Calculation of Arctangent in Embedded Systems, pp. 42-47.

Kusaka, Takashi Hokkaido Univ Tanaka, Takayuki Hokkaido Univ

Kajiwara, Hidekazu Muroran Inst. of Tech

09:25-09:45 WeAT2.3 Measurement of the Mechanical Power of an EAP Based Pump, pp. 48-53.

Chavanne, Jonathan Ec. Pol. Fédérale De Lausanne (EPFL)

Germano, Paolo EPFL Civet, Yoan EPFL Perriard, Yves Ec. Pol. Fédérale De Lausanne

(EPFL)

09:45-10:05 WeAT2.4 Autonomous Formation Selection for Ground Moving Multi-Robot Systems, pp. 54-59.

Yu, Shuang Monash Univ Barca, Jan Carlo Monash Univ

10:05-10:25 WeAT2.5 A Modern Artificial Intelligence Playware Art Tool for Psychological Testing of Group Dynamics, pp. 60-65.

Pagliarini, Luigi DTU Lund, Henrik Hautop Tech. Univ. of Denmark

10:25-10:45 WeAT2.6 A Heated Needle Micromanipulator with Hybrid Control for Heat-Caused Denaturation in Proteins (I), pp. 66-70.

Boksuwan, Sungwan King Mongkut's Inst. of Tech. Ladkrabang (KMITL)

Benjanarasuth, Taworn King Mongkut's Inst. of Tech. Ladkrabang (KMITL)

Aoyama, Hisayuki Univ. of Electro-Communications WeAT3 206-1 Modeling and Design of Mechatronic Systems I (Regular Session)

Chair: Wang, Jihong Univ. of Warwick Co-Chair: Zhang, Gaonan Inst. of Systems Engineering,

China Acad. of Engineering Physics

08:45-09:05 WeAT3.1 Design of a General Resilient Robotic System Based on Axiomatic Design Theory, pp. 71-78.

Zhang, Tan Univ. of Saskatchewan Zhang, Dan Univ. of Ontario Inst. of Tech Gupta, Madan M. Univ. of Saskatchewan, CA Zhang, Wenjun Univ. of Saskatchewan

09:05-09:25 WeAT3.2 Dynamic Modelling of a Hybrid Wind Turbine in Connection with Compressed Air Energy Storage through a Power Split Transmission Device, pp. 79-84.

Krupke, Christopher Univ. of Warwick Wang, Jihong Univ. of Warwick Clarke, Jonathan Univ. of Warwick Luo, Xing The Univ. of Warwick

09:25-09:45 WeAT3.3 The Pin-Lock Based Moving Mechanism of Wall Climbing Robot for the Reconfigurable Intelligent Space, pp. 85-90.

Park, JongSeung Ritsumeikan Univ Lee, Joo-Ho Ritsumeikan Univ

09:45-10:05 WeAT3.4 Nonlinearly Enhanced Vortex Induced Vibrations for Energy Harvesting, pp. 91-96.

Huynh, Bao Huy Nanyang Tech. Univ Tjahjowidodo, Tegoeh Nanyang Tech. Univ

Zhong, Zhaowei Nanyang Tech. Univ Wang, Youyi Nanyang Tech. Univ Narasimalu, Srikanth Energy Res. Inst. @NTU,

Singapore

10:05-10:25 WeAT3.5 Kinematic Modelling of Cable Wrapping on Rigid-Link Phenomenon in Cable-Driven Parallel Manipulators, pp. 97-103.

Lei, Man Cheong The Univ. of Melbourne Oetomo, Denny The Univ. of Melbourne

WeAT4 206-2 Legged Robots (Regular Session)

Chair: Seo, TaeWon Yeungnam Univ Co-Chair: Li, Xiaoqi Inst. of Automation, Chinese

Acad. of Science

08:45-09:05 WeAT4.1 Height Adjustable Multi-Legged Giant Yardwalker for Variable Presence, pp. 104-109.

Lee, Dong-Jun Ritsumeikan Univ Park, Minkee Seoul National Univ. of Science

and Tech Lee, Joo-Ho Ritsumeikan Univ

09:05-09:25 WeAT4.2 High Speed Running of Flat Foot Biped Robot with Inerter Using SLIP Model, pp. 110-115.

Doan, Nhat Thanh Tokyo Inst. of Tech Hayashi, Terumitsu Tokyo Inst. of Tech Yamakita, Masaki Tokyo Inst. of Tech

09:25-09:45 WeAT4.3 Gait Design by Graph Coloring for Robots That Have Legs on Their Faces, pp. 116-120.

Mikami, Sadayoshi Future Univ. Hakodate Fukuda, Tomohisa Future Univ. Hakodate Suzuki, Sho'ji Future Univ. -Hakodate

09:45-10:05 WeAT4.4 Hexapedal Robot for Amphibious Locomotion on Ground and Water, pp. 121-126.

Kim, Hyungyu YeungNam Univ Lee, Dong Gyu Yeunnam Univ Liu, Yanheng YeungNam Univ Jeong, Kyungmin KAERI Seo, TaeWon Yeungnam Univ

10:05-10:25 WeAT4.5 VLR : Cockroach Millirobot with Load Decoupling Structure, pp. 127-132.

Yun, Dongwon Kimm, Korea Fearing, Ronald Univ. of California at Berkeley

WeAT5 207-1 Medical Robotics/Mechatronics (Regular Session)

Chair: Gao, Wenchao National Univ. of Singapore Co-Chair: Yu, Yong Kagoshima Univ

08:45-09:05 WeAT5.1 Using Heterogeneous Sensory Measurements in a Compliant Magnetic Localization System for Medical Intervention, pp. 133-138.

Sun, Zhenglong Singapore Univ. of Tech. and Design

Foong, Shaohui Singapore Univ. of Tech. and Design

Marechal, Luc Singapore Univ. of Tech. and Design

Teo, Tee Hui Singapore Univ. of Tech. and Design

Tan, U-Xuan Singapore Univ. of Tech. and Design

Shabbir, Asim National Univ. Health System

09:05-09:25 WeAT5.2 Research of Rehabilitation Aid System by DOF Constraintable Mechanism and NMES for Hemiplegic Upper Limbs (I), pp. 139-144.

Taniguchi, Koutaro Kagoshima Univ Yu, Yong Kagoshima Univ Noma, Tomokazu Kagoshima Univ Hayashi, Ryota Kagoshima Univ Matsumoto, Shuji Kagoshima Univ Shimodozono, Megumi Kagoshima Univ Kawahira, Kazumi Kagoshima Univ

09:25-09:45 WeAT5.3 Silicone Retractor with Embedded Force-Sensing Function for Attachment to Surgical Suction Pipes (I), pp. 145-150.

Koyama, Toshio Kanazawa Univ Iwai, Takanobu Kanazawa Univ Yoneyama, Takeshi Kanazawa Univ Kagawa, Hiroyuki Kanazawa Univ Nakada, Mitsutoshi Kanazawa Univ Hayashi, Yutaka Ishikawa Prefectural Central

Hospital Watanabe, Tetsuyou Kanazawa Univ

09:45-10:05 WeAT5.4 Dexterity and Functionality Enhancement of the SJTU Unfoldable Robotic System, pp. 151-157.

Xu, Kai Shanghai Jiao Tong Univ Dai, Zhengchen Shanghai Jiao Tong Univ Zhao, Jiangran Shanghai Jiao Tong Univ Mei, Wukun Shanghai Jiao Tong Univ

10:05-10:25 WeAT5.5 Design and Torque-Mode Control of a Cable-Driven Rotary Series Elastic Actuator for Subject-Robot Interaction, pp. 158-164.

Lu, Junkai Univ. of California, Berkeley Haninger, Kevin Univ. of California, Berkeley Chen, Wenjie Univ. of California, Berkeley Tomizuka, Masayoshi Univ. of California, Berkeley

WeAT6 207-2 Biomechatronics (Regular Session)

Chair: Alici, Gursel Univ. of Wollongong Co-Chair: Sheng, Xinjun Shanghai Jiao Tong Univ

08:45-09:05 WeAT6.1 A Soft Robotic Exoskeleton Utilizing Granular Jamming, pp. 165-170.

Thompson-Bean, Elliot The Univ. of Auckland Steiner, Oliver The Univ. of Auckland McDaid, Andrew The Univ. of Auckland

09:05-09:25 WeAT6.2 Optimizing a Hemodynamic Model in the Human Motor Cortex, pp. 171-176.

Nguyen, Hoang-Dung Pusan National Univ Hong, Keum-Shik Pusan National Univ

09:25-09:45 WeAT6.3

Inertial Sensor Based Inverse Dynamics Analysis of Human Motions, pp. 177-182.

Min, Seojung KAIST Kim, Jung KAIST

09:45-10:05 WeAT6.4 KARL: A New Bio-Inspired Modular Limb for Robotic Applications, pp. 183-188.

D'Imperio, Mariapaola Istituto Italiano Di Tecnologia Carbonari, Luca Istituto Italiano Di Tecnologia Rahman, Nahian Istituto Italiano Di Tecnologia Canali, Carlo Department of Advanced

Robotics, Istituto Italiano Di Tecnologia

Cannella, Ferdinando Istituto Italiano Di Tecnologia

10:05-10:25 WeAT6.5 Optimization of Multiple Arc-Shaped Magnets for Drug Delivery in a Capsule Robot, pp. 189-195.

Munoz, Fredy Univ. of Wollongong Alici, Gursel Univ. of Wollongong Li, Weihua Univ. of Wollongong

10:25-10:45 WeAT6.6 Towards Zero Training for Myoelectric Control Based on a Wearable Wireless Semg Armband, pp. 196-201.

Guo, Weichao Shanghai Jiao Tong Univ Sheng, Xinjun Shanghai Jiao Tong Univ Liu, Jianwei Shanghai Jiao Tong Univ Hua, Lei Shanghai Jiao Tong Univ Zhang, Dingguo Shanghai Jiao Tong Univ Zhu, Xiangyang Shanghai Jiao Tong Univ

WeAT7 208-1 Identification and Estimation in Mechatronics (Regular Session)

Chair: Perruquetti, Wilfrid Ec. Centrale De Lille Co-Chair: Li, Cong Zhejiang Univ

08:45-09:05 WeAT7.1 Altitude Estimation Using Particle Filter with Monopulse Radars in a Multipath Environment, pp. 202-207.

Takabayashi, Yuki Mitsubishi Electric Corp Kurazume, Ryo Kyushu Univ Yasushi, Obata Mitsubishi Electric Corp

09:05-09:25 WeAT7.2 Parameter Estimation of Sandwich Systems with Backlash Via Modified Kalman Filter, pp. 208-213.

Li, Yanyan Nankai Univ Tan, Yonghong Shanghai Normal Univ Li, Haifen Nankai Univ Dong, Ruili Shanghai Normal Univ

09:25-09:45 WeAT7.3 Dual Drive System Modeling and Analysis for Synchronous Control of an H-Type Gantry, pp. 214-219.

Li, Cong Zhejiang Univ Yao, Bin Purdue Univ Zhu, Xiaocong Zhejiang Univ Wang, Qingfeng Zhejiang Univ

09:45-10:05 WeAT7.4 Identification of Robot Dynamic Parameters Using Jacobi Differentiator, pp. 220-225.

Guo, Qi Ec. Centrale De Lille Gautier, Maxime Univ. of Nantes/IRCCyN

Liu, Da-Yan INSA Centre Val De Loire, Campus De Bourges

Perruquetti, Wilfrid Ec. Centrale De Lille

10:05-10:25 WeAT7.5 DIDIM-CLIE Method for Dynamic Parameter Identification of Flexible Joint Robots, pp. 226-231.

Jubien, Anthony Univ. De Nantes Gautier, Maxime Univ. of Nantes/IRCCyN Janot, Alexandre ONERA

10:25-10:45 WeAT7.6 A Novel Way-Finding Method Based on Geomagnetic Field Effects and Magnetic Tensor Measurements for Visually Impaired Users, pp. 232-237.

Lee, Kok-Meng Georgia Tech. Univ. of Sci & Tech

Li, Min Georgia Inst. of Tech Lin, Chun-Yeon Georgia Inst. of Tech

WePlenary_Session 201 & 202 Plenary Session I (Plenary Session)

Chair: Kim, Sungshin Pusan National Univ

11:30-12:30 WePlenary_Session.1 Robots for Micro-Nanohandling*.

Gauthier, Michael FEMTO-ST Inst WeBT1 201 Planning and Navigation (Regular Session)

Chair: Oftadeh, Reza Tampere Univ. of Tech Co-Chair: Choi, Joon Young Pusan National Univ

13:45-14:05 WeBT1.1 Force Control of a 4WS4WD Vehicle for Path Tracking, pp. 238-243.

Dai, Penglei The Univ. of New South Wales Katupitiya, Jayantha The Univ. of New South Wales

14:05-14:25 WeBT1.2 Informed RRT* towards Optimality by Reducing Size of Hyperellipsoid, pp. 244-248.

Kim, Min-Cheol Korea Univ Song, Jae-Bok Korea Univ

14:25-14:45 WeBT1.3 Terrain Aided Navigation for Long-Range AUVs Using a New Bathymetric Contour Matching Method, pp. 249-254.

Zhou, Ling Southeast Univ Cheng, Xianghong Southeast Univ Zhu, Yixian Southeast Univ Lu, Yuan HS Marine Company

14:45-15:05 WeBT1.4 Iterative Polynomial-Based Trajectory Extension for Mobile Robot, pp. 255-260.

Kawabata, Kuniaki RIKEN Ma, Liang Xi'an Jiaotong Univ Xue, Jianru Xi'an Jiaotong Univ Yokota, Sho Toyo Univ Mitsukura, Yasue Graduate School of

Bio-Applications and System Engineering

Zheng, Nanning Xi'an Jiaotong Univ

15:05-15:25 WeBT1.5 Vision-Based Path Coordination for Multiple Mobile Robots with Four Steering Wheels Using an Overhead Camera, pp. 261-268.

Ziaei, Zahra Tampere Univ. of Tech Oftadeh, Reza Tampere Univ. of Tech Mattila, Jouni Tampere Univ. of Tech

15:25-15:45 WeBT1.6 An Intelligent Fault-Tolerant Strategy for AUV Integrated Navigation Systems, pp. 269-274.

Zhu, Yixian Southeast Univ Cheng, Xianghong Southeast Univ Wang, Lei Southeast Univ Zhou, Ling Southeast Univ

WeBT2 202 Human-Machine Interfaces (Regular Session)

Chair: Malvezzi, Monica Univ. of Siena Co-Chair: Yamakawa, Yuji Univ. of Tokyo

13:45-14:05 WeBT2.1 Number-Based Information and Its Application to Human Mind State Inference in Human-Machine Collaborative Systems, pp. 275-280.

Yang, Chun Univ. of Saskatchewan Lin, Yingzi Northeastern Univ Zhang, Wenjun Univ. of Saskatchewan Zhang, Hongbo East China Univ. of Science and

Tech Lu, Haili Univ. of Saskatchewan

14:05-14:25 WeBT2.2 Human-Robot Cooperative Task Realization Using High-Speed Robot Hand System, pp. 281-286.

Yamakawa, Yuji Univ. of Tokyo Kuno, Kazuki Univ. of Tokyo Ishikawa, Masatoshi Univ. of Tokyo

14:25-14:45 WeBT2.3 On Redundant Human-Robot Interface: Concept and Design Principle, pp. 287-292.

Xue, Lihua School of Mechanical and Power Engineering, East China Univ

Liu, Changjun School of Mechanical and Power Engineering, East China Univ

Lin, Yingzi Northeastern Univ Zhang, Wenjun Univ. of Saskatchewan

14:45-15:05 WeBT2.4 Design and Development of a 3RRS Wearable Fingertip Cutaneous Device, pp. 293-298.

Chinello, Francesco Univ. of Siena Malvezzi, Monica Univ. of Siena Pacchierotti, Claudio Univ. of Siena Prattichizzo, Domenico Univ. Di Siena

15:05-15:25 WeBT2.5 Analysis of Individual Driving Experience in Autonomous and Human-Driven Vehicles Using a Driving Simulator, pp. 299-304.

Manawadu, Udara Waseda Univ Ishikawa, Masaaki Waseda Univ Kamezaki, Mitsuhiro Waseda Univ Sugano, Shigeki Waseda Univ

15:25-15:45 WeBT2.6 Enhanced Teleoperation of UAVs with Haptic Feedback, pp. 305-310.

Kanso, Ali American Univ. of Beirut Elhajj, Imad American Univ. of Beirut Shammas, Elie American Univ. of Beirut

Asmar, Daniel American Univ. of Beirut WeBT3 206-1 Modeling and Design of Mechatronic Systems II (Regular Session)

Chair: Wang, Kai SYSU-CMU Joint Inst. of Engineering

Co-Chair: Zhang, Dan Univ. of Ontario Inst. of Tech

13:45-14:05 WeBT3.1 Playful Home Training for Falls Prevention, pp. 311-317.

Jessen, Jari Due Tech. Univ. of Denmark Lund, Henrik Hautop Tech. Univ. of Denmark

14:05-14:25 WeBT3.2 Design of a Two Degree of Freedom Resonant Miniature Robotic Leg, pp. 318-323.

Rios, Shannon Andrew Univ. of Newcastle Fleming, Andrew J. Univ. of Newcastle Yong, Yuen Kuan The Univ. of Newcastle

14:25-14:45 WeBT3.3 Optimization Design of a Novel Closed-Loop Spray Cooling System, pp. 324-329.

Zhang, Hongsheng Beihang Univ Li, Yun-Ze Beihang Univ Mao, Yufeng Beihang Univ Tian, Shaoping Beihang Univ Liu, Yang Beihang Univ Yang, Liman Beihang Univ

14:45-15:05 WeBT3.4 Kinematic Analysis and Optimization for 4PUS-RPU Mechanism, pp. 330-335.

Zhang, Dan Univ. of Ontario Inst. of Tech Wei, Bin Univ. of Ontario Inst. of Tech

15:05-15:25 WeBT3.5 Multi-Joint Gripper - Control of Envelope Gripping -, pp. 336-341.

Sayama, Kazuhiro Tokai Univ Tamamoto, Takumi Tokai Univ Koganezawa, Koichi Tokai Univ

15:25-15:45 WeBT3.6 Analytical Modeling of Piezoelectric Charge Gated Thin Film Transistor for Force Sensing and Energy Harvesting, pp. 342-346.

Li, Weiwei Carnegie Mellon Univ. SYSU-CMU Joint Inst. of

Engineer Weldon, Jeffrey Carnegie Mellon Univ Wang, Kai SYSU-CMU Joint Inst. of

Engineering WeBT4 206-2 Artificial Intelligence in Mechatronics (Regular Session)

Chair: Zhang, Yuming Univ. of Kentucky Co-Chair: Kim, Euntai Yonsei Univ

13:45-14:05 WeBT4.1 Welder Rating System Based Learning of Human Welder Intelligence in GTAW, pp. 347-352.

Liu, Yukang Univ. of Kentucky Zhang, Yuming Univ. of Kentucky

14:05-14:25 WeBT4.2 Integrating Modular Mechatronic Systems for Immersive Performances, pp. 353-358.

Pagliarini, Luigi DTU Lund, Henrik Hautop Tech. Univ. of Denmark

14:25-14:45 WeBT4.3 Pose Estimation and 3D Environment Reconstruction Using Less Reliable Depth Data, pp. 359-364.

Jo, Sungjin Yonsei Univ Jo, HyungGi Yonsei Univ Cho, Hae Min Yonsei Univ Kim, Euntai Yonsei Univ

14:45-15:05 WeBT4.4 Adaptive Friction Compensation for Hand Grasping and Compliant Control, pp. 365-370.

Sadun, Amirul Syafiq Univ. Tun Hussein Onn Malaysia (UTHM)

Jalani, Jamaludin Univ. Tun Hussein on Malaysia Abdul Sukor, Jumadi Univ. Tun Hussein Onn Malaysia

(UTHM)

15:05-15:25 WeBT4.5 Torque Ripple Reduction of Switched Reluctance Motor Drive with Adaptive Sliding Mode Control and Particle Swarm Optimization, pp. 371-376.

Namazi, Mohammad Masoud Isfahan Univ. of Tech Mansouri Borujeni, Mojtaba Isfahan Univ. of Tech Rashidi, Amir Isfahan Univ. of Tech Saghaian-nejad, Sayed Morteza

Isfahan Univ. of Tech

Ahn, Jin-Woo Kyungsung Univ

15:25-15:45 WeBT4.6 Anomalous Propagation Echo Detection Using Artificial Neural Network and Doppler Velocity Features, pp. 377-381.

Lee, Hansoo Pusan National Univ Kim, Eun Kyeong Pusan National Univ Kim, Sungshin Pusan National Univ

WeBT5 207-1 Electric and Hydraulic Actuators and Their Applications I (Organized Session)

Chair: Jiao, Zongxia Beihang Univ Co-Chair: Yan, Liang Beijing Univ. of Aeronautics and

Astronautics Organizer: Yan, Liang Beijing Univ. of Aeronautics and

Astronautics Organizer: Jiao, Zongxia Beihang Univ

13:45-14:05 WeBT5.1 Reliability Assessment of Aircraft Power and Actuation System Based on Three-Axis Control (I), pp. 382-387.

Cui, Xiaoyu Beihang Univ Wang, Shaoping Beihang Univ Li, Qian Beihang Univ Shi, Jian Beihang Univ

14:05-14:25 WeBT5.2 Optimization Design of the Inner Radius of the Sealing Surface of Slipper (I), pp. 388-395.

Wang, Qiannan Zhejiang Univ Xu, Bing ZheJiang Univ Zhang, Junhui Zhejiang Univ

14:25-14:45 WeBT5.3 Energy-Loss Mechanism and Load Capacity Analysis of Slipper Pair in an Aerial Axial Piston Pump (I), pp. 396-400.

Li, Hengbo Beihang Univ Yang, Liman BeiHang Univ

Li, Yunhua BeiHang Univ Yao, Nan BeiHang Univ Ye, Yuan Center International Group

Company

14:45-15:05 WeBT5.4 Design and Analysis of a Limited Angle Torque Motor with Dual Halbach Arrays (I), pp. 401-406.

Li, Xiao Beihang Univ Wu, Shuai Beihang Univ

15:05-15:25 WeBT5.5 Multi-Field Interactions Simulation Analysis of New Hydraulic Accumulator Magnetorheological Fluid Chamber (I), pp. 407-411.

Li, Bin Yanshan Univ Quan, Lingxiao Yanshan Univ Zhang, Yutong Yanshan Univ Yu, Bin Yanshan Univ Kong, Xiangdong Yanshan Univ Guan, Qingsheng Xugong Group of China

15:25-15:45 WeBT5.6 An Improved Hybrid Suppression Method for Extraneous Force of High-Frequency Electro-Hydraulic Loading System (I), pp. 412-417.

Sheng, Zhiqing Beihang Univ Li, Yunhua BeiHang Univ

WeBT6 207-2 Rehabilitation and Medical Robotics I (Organized Session)

Chair: Bae, Joonbum UNIST Co-Chair: Cho, Kyu-Jin Seoul National Univ Organizer: Bae, Joonbum UNIST

13:45-14:05 WeBT6.1 Intention Recognition Method for Sit-To-Stand and Stand-To-Sit from Electromyogram Signals for Overground Lower-Limb Rehabilitation Robots (I), pp. 418-421.

Chung, Sang Hun Korea Inst. of Science and Tech Lee, Jong Min Korea Inst. of Science and Tech Kim, Seung-Jong Korea Inst. of Science and Tech.

(KIST) Hwang, Yoha Korea Inst. of Science and Tech An, Jinung DGIST

14:05-14:25 WeBT6.2 Rhythmic Auditory Stimulation for Robot-Assisted Gait Rehabilitation: A Preliminary Study (I), pp. 422-426.

Lee, Hwi-Young Korea National Rehabilitation Center

Ko, Byung-Woo Korea National Rehabilitation Center

Song, Won-Kyung Korea National Rehabilitation Center

Kim, Hogene Korea National Rehabilitation Center

Shin, Joon-Ho Korea National Rehabilitation Center

14:25-14:45 WeBT6.3 Development of Passive Upper Limb Weight Bearing Orthosis to Enhance Voluntary Shoulder Rotation for Activities of Daily Living (I), pp. 427-431.

Sin, MinKi Seoul National Univ. Biorobotics Lab

Kim, Sang-Hun Seoul National Univ Cho, Kyu-Jin Seoul National Univ. Biorobotics

Lab

14:45-15:05 WeBT6.4 Real-Time Estimation of Individual Muscular Forces of the Lower Limb Using Wearable Sensors (I), pp. 432-436.

Kim, Suin UNIST Ro, Kyongkwan UNIST Bae, Joonbum UNIST

15:05-15:25 WeBT6.5 Neuro-Feedback Using Real-Time Near Infrared Spectroscopy En-Hances Brain Plasticity During Treadmill Walking : A Pilot Study (I), pp. 437-440.

Lee, Seung Hyun Daegu Gyeongbuk Inst. of Science and Tech

Jang, Gwang Hee DGIST Jin, Sang Hyeon DGIST An, Jinung DGIST

15:25-15:45 WeBT6.6 An Application of User-Friendly Control for Respiratory Rehabilitation and Assistance Robot (I), pp. 441-446.

Lee, Sang-Yoep Seoul National Univ Jeong, Useok Seoul National Univ Cho, Kyu-Jin Seoul National Univ. Biorobotics

Lab WeBT7 208-1 Micro/Nano System (Regular Session)

Chair: Wang, Yancheng Zhejiang Univ Co-Chair: Mansour, Nader A. Egypt-Japan Univ. of Science

and Tech

13:45-14:05 WeBT7.1 A Novel SMA-Based Micro Tactile Display Device for Elasticity Range of Human Soft Tissues: Design and Simulation, pp. 447-452.

Mansour, Nader A. Egypt-Japan Univ. of Science and Tech

Fath El-Bab, Ahmed M. R. Assiut Univ. Assiut, Egypt Assal, Samy F. M. Egypt-Japan Univ. of Science

and Tech

14:05-14:25 WeBT7.2 Shape Behavior Analysis of a PMN-PT [001] Actuated MOEMS Micro-Mirror, pp. 453-458.

Ciubotariu, Dragos Adrian Femto-ST Inst. / Univ. Franche-Comte /

Clévy, Cédric Franche-Comté Univ Ivan, Ioan Alexandru Univ. De Lyon, ENISE, LTDS,

UMR 5513 CNRS Lutz, Philippe Femto-St - Umr Cnrs 6174 -

Ufc/ensmm/utbm

14:25-14:45 WeBT7.3 Design and Analysis of a Novel 3-D Micromanipulator with Large Range of Motion, pp. 459-464.

Wu, Zhigang Univ. of Macau Li, Yangmin Univ. of Macau/Tianjin Univ. of

Tech

14:45-15:05 WeBT7.4 Scanning Probe Microscope Trajectory Measurement by Scanning a Single Feature, pp. 465-469.

Peyton Jones, James Villanova Univ Clayton, Garrett Villanova Univ

15:05-15:25 WeBT7.5 Atomic Force Microscopy Using Voice Coil Actuators for Vibration Isolation, pp. 470-475.

Ito, Shingo Vienna Univ. of Tech

Neyer, Daniel Vienna Univ. of Tech Pirker, Stefan Vienna Univ. of Tech Steininger, Juergen Vienna Univ. of Tech Schitter, Georg Vienna Univ. of Tech

15:25-15:45 WeBT7.6 A Flexible Tactile Sensor Array Based on Pressure Conductive Rubber for Three-Axis Force and Slip Detection, pp. 476-481.

Xi, Kailun Zhejiang Univ Wang, Yancheng Zhejiang Univ Mei, Deqing Zhejiang Univ Liang, Guanhao Zhejiang Univ Chen, Zichen Zhejiang Univ

WeInvitedT2 202 Invited Session I (Invited Session)

Chair: Bae, Joonbum UNIST

16:00-17:00 WeInvitedT2.1 Soft Transducers for Mechatronics*.

Choi, Hyouk Ryeol Sungkyunkwan Univ WePosterT1 201 Poster Session I (Poster Session)

Chair: Ahn, Jin-Woo Kyungsung Univ Co-Chair: Lu, Ming Beijing Inst. of Control

Engineering

17:00-18:00 WePosterT1.1 Pseudospectral Motion Planning for Autonomous Bicycles, pp. 482-487.

Yuan, Jing Nankai Univ Zhang, Jinhe Nankai Univ Ding, Song Nankai Univ

17:00-18:00 WePosterT1.2 Adaptive Trajectory Tracking Control for a Four-Rope Crane, pp. 488-493.

Lu, Biao Nankai Univ Fang, Yongchun Nankai Univ Sun, Ning Nankai Univ

17:00-18:00 WePosterT1.3 Parameter Estimation of the Lankarani-Nikravesh Contact Force Model Using a New Modified Linear Method, pp. 494-499.

Ma, Jia Nanjing Univ. of Science and Tech

Qian, Linfang Nanjing Univ. of Science and Tech

Chen, Guangsong Nanjing Univ. of Science and Tech

17:00-18:00 WePosterT1.4 Gait Transition Based on CPG Modulation for Quadruped Locomotion, pp. 500-505.

Li, Xiaoqi Inst. of Automation, Chinese Acad. of Science

Wang, Wei Chinese Acad. of Sciences Yi, Jianqiang Inst. of Automation, Chinese

Acad. of Science

17:00-18:00 WePosterT1.5 Application of a Robotic System with Mobile Manipulator and Vision Positioning, pp. 506-511.

Shao, Xuesong Inst. of Automation, Chinese Acad. of Sciences

Xiao, Wei Inst. of Automation, Chinese

Acad. of Sciences Wang, Wei Chinese Acad. of Sciences

17:00-18:00 WePosterT1.6 Development of Integrated Hydrostatic-Driven Electric Generator, pp. 512-517.

Wang, Tao Hunan Univ

17:00-18:00 WePosterT1.7 High Precision Control Design for SGCMG Gimbal Servo System, pp. 518-523.

Lu, Ming Beijing Inst. of Control Engineering

Hu, Yuewei Beijing Inst. of Control Engineering

Wang, Yingguang Beijing Inst. of Control Engineering

Li, Gang Beijing Inst. of Control Engineering

Wu, Dengyun Beijing Inst. of Control Engineering

Zhang, Jiyang Beijing Inst. of Control Engineering

17:00-18:00 WePosterT1.8 Data Driven Injection Molding Process Monitoring Using Sparse Auto Encoder Technique, pp. 524-528.

Mao, Ting Huazhong Univ. of Science and Tech

Zhang, Yun Huazhong Univ. of Science and Tech

Zhou, Huamin Huazhong Univ. of Science and Tech

Li, Dequn Huazhong Univ. of Science and Tech

Huang, Zhigao Huazhong Univ. of Science and Tech

Gao, Huang Huazhong Univ. of Science and Tech

17:00-18:00 WePosterT1.9 Optimizing Transparency of Haptic Device through Velocity Estimation, pp. 529-534.

Weill--Duflos, Antoine Univ. Pierre Et Marie Curie Mohand Ousaid, Abdenbi UPMC Paris 6 Haliyo, Dogan Sinan Univ. Pierre Et Marie Curie -

Paris 6 - CNRS Régnier, Stéphane Univ. Pierre Et Marie Curie Hayward, Vincent Univ. Pierre Et Marie Curie

17:00-18:00 WePosterT1.10 Development of a Novel Low-Cost Au-Printed SERS Paper Substrate for Point-Of-Care Application (I), pp. 535-536.

Kim, Wansun Kyung Hee Univ Park, Hun-Kuk Kyung Hee Univ Choi, Samjin Kyung Hee Univ

17:00-18:00 WePosterT1.11 Communication Packet Loss Concealment for Pattern Generation with Robotic Swarms, pp. 537-542.

Shinnoh, Atsushi Japan Advanced Inst. of Science and Tech

Chong, Nak Young Japan Advanced Inst. of Sci. and Tech

Lee, Geunho Univ. of Miyazaki

17:00-18:00 WePosterT1.12 Robotic Face Milling Path Correction and Vibration Reduction, pp. 543-548.

Kaldestad, Knut Berg Univ. of Agder

Tyapin, Ilya Univ. of Agder Hovland, Geir Univ. of Agder

17:00-18:00 WePosterT1.13 Performance Analysis of Linux-Based EtherCAT DC Synchronization, pp. 549-552.

Yi, Hyun-Chul Pusan National Univ Choi, Joon Young Pusan National Univ

17:00-18:00 WePosterT1.14 A Fast-Flow Microfluidic Paper-Based Analytic Platform through Adhesive OHP Film-Hollowed Channels (I), pp. 553-554.

Shin, Jae-Ho Kyung Hee Univ Choi, Samjin Kyung Hee Univ

17:00-18:00 WePosterT1.15 An Improved RGB-D SLAM Algorithm Based on Kinect Sensor, pp. 555-562.

Zhang, Liang Xidian Univ Shen, Peiyi Xidian Univ Ding, Jieqiong Xidian Univ Song, Juan Xidian Univ Liu, Jingwen Xidian Univ Yi, Kang Xi'an Communication Inst

17:00-18:00 WePosterT1.16 The Quantitative Analysis for a Contact-Mode Triboelectric Energy Harvesting Device, pp. 563-566.

Hong, Daewoong Korea Univ Choi, Young-Man KIMM Jeong, Jaehwa Korea Univ

17:00-18:00 WePosterT1.17 Optimal Trajectory Control for Capturing a Mobile Sound Source, pp. 567-570.

Han, Jongho Pusan National Univ Lee, Jangmyung Busan National Univ. Busan,

Korea Sheng, Xinjun Shanghai Jiao Tong Univ Xiangyang, Zhu Shanghai Jiao Tong Univ

17:00-18:00 WePosterT1.18 A Fast Video Stabilization Algorithm with Unexpected Motion Prediction Strategy, pp. 571-576.

Zhang, Yang Shenyang Inst. of Automation, Chinese Acad. of Sciences

Leng, Yuquan Shenyang Inst. of Automation, Chinese Acad. of Sciences

He, Xu Shenyang Inst. of Automation, Chinese Acad. of Sciences

17:00-18:00 WePosterT1.19 Locomotion Control Strategy of Hydraulic Lower Extremity Exoskeleton Robot, pp. 577-582.

Kim, Hongchul Agency for Defense Development

Seo, Changhoon Agency for Defense Development

Shin, Young June KAIST Kim, Jung KAIST Kang, Youn Sik Agency for Defense

Development

17:00-18:00 WePosterT1.20 Discrete Derivative Method for Adaptive-Notch-Filter Based Frequency Estimators, pp. 583-588.

Yoon, Jong-Min Seoul National Univ Bahn, Wook Seoul National Univ Lee, Sang-Hoon RS Automation Co., Ltd

Cho, Dong-il Dan Seoul National Univ

17:00-18:00 WePosterT1.21 Research on Harmonic Compensation for Flux and Current of Permanent Magnet Synchronous Motor, pp. 589-594.

Lu, Jun Donghua Univ Yang, Jianguo Donghua Univ Ma, Yinchen Donghua Univ

17:00-18:00 WePosterT1.22 Symmetric Caging Formation for Convex Polygon Object Transportation by Multiple Mobile Robots, pp. 595-600.

Dai, Yanyan Yeungnam Univ Kim, Yoon-Gu DGIST Lee, Dong-ha DGIST Lee, Suk-Gyu Yeungnam Univ

WeCT5 207-1 Electric and Hydraulic Actuators and Their Applications II (Organized Session)

Chair: Yan, Liang Beijing Univ. of Aeronautics and Astronautics

Co-Chair: Jiao, Zongxia Beihang Univ Organizer: Yan, Liang Beijing Univ. of Aeronautics and

Astronautics Organizer: Jiao, Zongxia Beihang Univ

16:00-16:20 WeCT5.1 Characteristics Analysis of Heat-Fluid-Solid Coupling Field for Linear Resonant Testing Platform (I), pp. 601-606.

He, Ping Beihang Univ Jiao, Zongxia Beihang Univ Yan, Liang Beijing Univ Wang, Tianyi Beihang Univ Wang, Zimeng Beihang Univ Yao, Nan Beihang Univ

16:20-16:40 WeCT5.2 Modeling, Simulation and Experiment Study of Electromagnetic Performance for E-Type Series Linear Oscillating Motor (I), pp. 607-612.

Wang, Tianyi Beihang Univ He, Ping Beihang Univ Yan, Liang Beijing Univ. of Aeronautics and

Astronautics Jiao, Zongxia Beihang Univ Chen, Chin-Yin Ningbo Inst. of Material Tech.

and Engineering

16:40-17:00 WeCT5.3 Analysis for the Power Loss of Electro Hydrostatic Actuator and Hydraulic Actuator (I), pp. 613-616.

Hu, Wunong AVIC Xi'an Flight Automatic Control Res. Inst

Zhou, Lei AVIC Xi'an Flight Automatic Control Res. Inst

Tian, Yisong AVIC Xi'an Flight Automatic Control Res. Inst

Jiao, Zongxia Beihang Univ Shang, Yaoxing Beihang Univ Song, Zengning Beijing Univ. of Aeronautics and

Astronautics Yan, Liang Beijing Univ. of Aeronautics and

Astronautics

17:00-17:20 WeCT5.4 A Novel Dynamic Decoupling Control Algorithm for PMSA by Utilizing Single Neural Adaptive Controllers (I), pp. 617-622.

Yan, Liang Beijing Univ. of Aeronautics and Astronautics

Zhu, Bo Beihang Univ Jiao, Zongxia Beihang Univ Chen, Chin-Yin Ningbo Inst. of Material Tech.

and Engineering Chen, I-Ming Nanyang Tech. Univ

17:20-17:40 WeCT5.5 Magnetic Field Analysis of Permanent Magnet Tubular Linear Machines with Multiple Movers (I), pp. 623-628.

Yan, Liang Beihang Univ Tianyu, Wang Beihang Univ Zongxia, Jiao Beihang Univ Chin-Yin, Chen Ningbo Inst. of Material Tech.

and Engineering I-Ming, Chen Nanyang Tech. Univ

17:40-18:00 WeCT5.6 Temperature Estimation of Stator Winding for Permanent Magnet Synchronous Motor Used in Electro-Hydrostatic Actuator (I), pp. 629-634.

Ling, Lina Beihang Univ Li, Yunhua BeiHang Univ Li, Yun-Ze Beihang Univ Wei, Liu Beihang Univ Juntao, Jia Beihang Univ

WeCT6 207-2 Rehabilitation and Medical Robotics II (Organized Session)

Chair: Kai, Yoshihiro Tokai Univ Co-Chair: Brassitos, Elias Northeastern Univ Organizer: Bae, Joonbum UNIST

16:00-16:20 WeCT6.1 Modeling and Development of Tension Force Measurement System for Cable-Driven Hand Exoskeleton Robot (I), pp. 635-640.

Pu, Shu-Wei (Wayne) National Tsing Hua Univ Chang, Hsien-Ting (Tim) National Tsing Hua Univ Chang, Jen-Yuan (James) National Tsing Hua Univ

16:20-16:40 WeCT6.2 A Robot Suit with Hardware-Based Safety Devices: Frequency Response Analysis of a Velocity-Based Safety Device (I), pp. 641-646.

Kai, Yoshihiro Tokai Univ Kanno, Shotaro Tokai Univ Zhang, Wenlong Univ. of California at Berkeley Tomizuka, Masayoshi Univ. of California

16:40-17:00 WeCT6.3 Design and Simulation of the Adjustable Weight Bearing System to Adjust the Torque Change by the Distal Joint on 2DOF Body Limb (I), pp. 647-651.

Park, Daegeun Seoul National Univ Cho, Kyu-Jin Seoul National Univ. Biorobotics

Lab

17:00-17:20 WeCT6.4 Force/Torque Sensorless Impedance Control for Indirect Driven Robot-Aided Gait Rehabilitation System (I), pp. 652-657.

Tran Van, Quoc Gwangju Inst. Science & Tech Kim, Sehun Gwangju Inst. Science & Tech Lee, Kyung Hwan P&S Mechanics Co., Ltd Kang, Sungchul Korea Inst. of Science & Tech Ryu, Jeha Gwangju Inst. Science & Tech

17:20-17:40 WeCT6.5 Development of a Multimodal Biofeedback System for Balance Training (I), pp. 658-663.

Afzal, Muhammad Raheel Gyeongsang National Univ Oh, Min-Kyun Gyeongsang National Univ.

Hospital Yoon, Jungwon Gyeongsang National Univ

17:40-18:00 WeCT6.6 Compact Drive System for Planetary Rovers and Space Manipulators, pp. 664-669.

Brassitos, Elias Northeastern Univ Dubowsky, Steven MIT

Technical Program for Thursday July 9, 2015

ThAT1 201 Rehabilitation Robots (Regular Session)

Chair: Zhang, Longzhi Harbin Inst. of Tech Co-Chair: Jin, TaeSeok DongSeo Univ

08:45-09:05 ThAT1.1 Dimensional Synthesis of a Lightweight Shoulder Exoskeleton, pp. 670-675.

Hsieh, Hsiang-Chien National Cheng Kung Univ Chien, Li National Cheng Kung Univ Lan, Chao-Chieh National Cheng Kung Univ

09:05-09:25 ThAT1.2 Kinematic Analysis of a Parallel Manipulator-Based Multi-Function Mobility Assistive Device for Elderly, pp. 676-681.

Asker, Ahmed Egypt-Japan Univ. of Science and Tech

Assal, Samy F. M. Faculty of Engineering, Tanta Univ. Tanta, Egypt

09:25-09:45 ThAT1.3 Research on Cutting Temperature in Bone Cutting Surgery, pp. 682-686.

Wu, Dongmei Harbin Inst. of Tech Zhang, Longzhi Harbin Inst. of Tech Liu, Sen Harbin Inst. of Tech

09:45-10:05 ThAT1.4 Gait Measurement and Evaluation System for Diagnosis of Elderly People's Gait Condition to Prevent Fall, pp. 687-693.

Ito, Tomotaka Shizuoka Univ Umise, Satoru Shizuoka Univ

10:05-10:25 ThAT1.5 Development of MR Fluid-Based Gait Assist Cane for Elderly People, pp. 694-699.

Ito, Tomotaka Shizuoka Univ Oshita, Genta Sizuoka Univ. Sity

10:25-10:45 ThAT1.6 Improving the Safety of Ankle-Foot Rehabilitation System with Hybrid Control, pp. 700-705.

Chen, Geng Peking Univ Zhou, Zhihao Peking Univ Feng, Yanggang Peking Univ Wang, Rongli Peking Univ. First Hospital Wang, Ninghua Peking Univ. First Hospital Wang, Qining Peking Univ

ThAT2 202 Mobile Robots I (Regular Session)

Chair: Dogruer, Can Ulas Hacettepe Univ Co-Chair: Cakmakci, Melih Bilkent Univ

08:45-09:05 ThAT2.1 Optimal Trajectory Tracking under Parametric Uncertainty, pp. 706-712.

Dogruer, Can Ulas Hacettepe Univ

09:05-09:25 ThAT2.2 Path Following Control of an Off-Road Track Vehicle Towing a Steerable Driven Implement, pp. 713-718.

Taghia, Javad Univ. of New South Wales Lam, Stanley Univ. of New South Wales Katupitiya, Jayantha The Univ. of New South Wales

09:25-09:45 ThAT2.3 Iterative Overlap-Part Estimation Method for Generating Reliable 3D Terrain Maps, pp. 719-724.

Kunii, Yasuharu Chuo Univ Hashimoto, Naoki Chuo Univ Oishi, Shunya Chuo Univ

09:45-10:05 ThAT2.4 Mechanical Design and Position Control of a Modular Mechatronic Device (MechaCell), pp. 725-730.

Ristevski, Stefan Bilkent Univ Cakmakci, Melih Bilkent Univ

10:05-10:25 ThAT2.5 A Hierarchical Topological Planner for Multi-Storey Building Navigation, pp. 731-736.

Zhang, Qun Inst. for Infocomm Res. A*STAR Wu, Xiaojun Inst. for Infocomm Res Liu, Bingbing I2R, A*Star Adiwahono, Albertus Hendrawan

I2r A-Star

Dung, Tran Anh Inst. for Infocomm Res Chang, Tai Wen Inst. for Infocomm Res. ,

A*STAR

10:25-10:45 ThAT2.6 Relaxing Nonholonomic Constraints: Towards Continuous-Curvature Dubins Paths, pp. 737-742.

Bazzi, Salah American Univ. of Beirut Shammas, Elie American Univ. of Beirut Asmar, Daniel American Univ. of Beirut

ThAT3 206-1 Control Application in Mechatronics I (Regular Session)

Chair: Huang, Han-Pang National Taiwan Univ Co-Chair: Fang, Yongchun Nankai Univ

08:45-09:05 ThAT3.1 Performance-Oriented Investigation of Adaptive Robust Control in Iterative Learning Control Framework with Comparative Experiments, pp. 743-748.

Hu, Zhipeng Tsinghua Univ Hu, Chuxiong Tsinghua Univ Zhu, Yu Tsinghua Univ Yang, Jin Tsinghua Univ

09:05-09:25 ThAT3.2 Super-Twisting-Based Antiswing Control for Underactuated Double Pendulum Cranes, pp. 749-754.

Sun, Ning Nankai Univ Fang, Yongchun Nankai Univ Chen, He Nankai Univ Fu, Yiming Nankai Univ

09:25-09:45 ThAT3.3 Mid-Ranging Control of a Macro/mini Manipulator, pp. 755-760.

Ma, Zheng National Univ. of Singapore Hong, Geok Soon National Univ. of Singapore Ang Jr, Marcelo H National Univ. of Singapore Poo, Jim A.N. National Univ. of Singapore

09:45-10:05 ThAT3.4 Humanoid Robot Push-Recovery Strategy Based on CMP Criterion and Angular Momentum Regulation, pp. 761-766.

Chang, Che-Hsuan National Taiwan Univ Huang, Han-Pang National Taiwan Univ Hsu, Huan-Kun National Taiwan Univ

Cheng, Ching-An National Taiwan Univ

10:05-10:25 ThAT3.5 Improvement of Position Accuracy for Inflatable Robotic Arm Using Visual Feedback Control Method, pp. 767-772.

Kim, Hyejong Ritsumeikan Univ Tanaka, Yuto Ritsumeikan Univ Kawamura, Akihiro Kyushu Univ Kawamura, Sadao Ritsumeikan Univ Nishioka, Yasutaka Univ. of Shiga Prefecture

10:25-10:45 ThAT3.6 Dynamics Based Motion Optimization and Operational Space Control with an Experimental Rescue Robot, HUBO T-100, pp. 773-778.

Hong, Seongil Agency for Defense Development

Lee, Youngwoo Agency for Defense Development

Park, Kyu Hyun Agency for Defense Development

Lee, Won Suk Agency for Defense Development

Choi, Byunghun Agency for Defense Developement

Sim, Okkee KAIST Kim, Inhyeok Korea Advanced Inst. of Science

and Tech Oh, Jun Ho Korea Advanced Inst. of Sci. and

Tech Kang, Youn Sik Agency for Defense

Development ThAT4 206-2 Additive Manufacturing (Organized Session)

Chair: Wicker, Ryan The Univ. of Texas at El Paso Co-Chair: Macdonald, Eric The Univ. of Texas at El Paso Organizer: Wicker, Ryan The Univ. of Texas at El Paso Organizer: Macdonald, Eric The Univ. of Texas at El Paso

08:45-09:05 ThAT4.1 A Study to Detect a Material Deposition Status in Fused Deposition Modeling Technology (I), pp. 779-783.

Kim, Chi Yen Univ. of Texas at El Paso Wicker, Ryan The Univ. of Texas at El Paso Macdonald, Eric The Univ. of Texas at El Paso Espalin, David The Univ. of Texas at El Paso Perez, Mireya A The Univ. of Texas at El Paso Cuaron, Alejandro The Univ. of Texas at El Paso

09:05-09:25 ThAT4.2 Automatic Robot Taping: System Integration (I), pp. 784-789.

Lembono, Teguh Santoso Nanyang Tech. Univ Yuan, Qilong Nanyang Tech. Univ Zou, Yuhua Nanyang Tech. Univ Chen, I-Ming Nanyang Tech. Univ

09:25-09:45 ThAT4.3 Effect of Flexure Hinge Type on a 3D Printed Fully Compliant Prosthetic Finger (I), pp. 790-795.

Mutlu, Rahim Univ. of Wollongong Alici, Gursel Univ. of Wollongong in het Panhuis, Marc Univ. of Wollongong Spinks, Geoffrey Univ. of Wollongong

09:45-10:05 ThAT4.4 Speed-Based Diagnostics of Aerodynamic and Mass Imbalance in

Large Wind Turbines, pp. 796-801. Shahriar, Md Rifat Queensland Univ. of Tech Borghesani, Pietro Pol. Di Milano - Department of

MechanicalEngineering Tan, Andy C. C. Queensland Univ. of Tech

10:05-10:25 ThAT4.5 Pattern Recognition Methods for Multi Stage Classification of Parkinson's Disease Utilizing Voice Features, pp. 802-807.

Caesarendra, Wahyu Diponegoro Univ Tono Putri, Farika Diponegoro Univ Ariyanto, Mochammad Diponegoro Univ Dharma Setiawan, Joga Diponegoro Univ

10:25-10:45 ThAT4.6 Incremental Sheet Forming of Aluminum with Warm (I), pp. 808-811.

Da Silva, Pablo Josue Univ. of Brasilia / Inst. Federal De Brasilia

Álvares, Alberto José Univ. De Brasília ThAT5 207-1 Actuators (Regular Session)

Chair: Hussein, Hussein FEMTO-ST Co-Chair: Abdul Nasir, Abd Ghafar

Okayama Univ. of Science

08:45-09:05 ThAT5.1 Modelling and Robust Control of an Inverted Pendulum Driven by a Pneumatic Cylinder, pp. 812-817.

Krupke, Christopher Univ. of Warwick Wang, Jihong Univ. of Warwick

09:05-09:25 ThAT5.2 Design and Comparison of Different Magneto-Rheological Valves Configurations, pp. 818-823.

Grivon, Daniel École Pol. Fédérale De Lausanne (EPFL)

Civet, Yoan EPFL Perriard, Yves Ec. Pol. Fédérale De Lausanne

(EPFL) Pataky, Zoltan Univ. Hospital of Geneva

09:25-09:45 ThAT5.3 Vision Based Control of a Conjugated Electro-Active Polymer Actuator, pp. 824-829.

Coşkun, Mustafa Yavuz Karadeniz Tech. Univ İtik, Mehmet Karadeniz Tech. Univ

09:45-10:05 ThAT5.4 Analysis of Low-Cost Wearable Servo Valve Using Buckled Tubes for Optimal Arrangement of Tubes, pp. 830-835.

Abdul Nasir, Abd Ghafar Okayama Univ. of Science Akagi, Tetsuya Okayama Univ. of Secience Dohta, Shujiro Okayama Univ. of Science Ono, Ayumu Okayama Univ. of Science

10:05-10:25 ThAT5.5 Analysis of the Dynamic Behavior of a Doped Silicon U-Shaped Electrothermal Actuator, pp. 836-841.

Hussein, Hussein Femto-St Le moal, Patrice Femto-St Bourbon, Gilles Femto-St Haddab, Yassine FEMTO-ST Lutz, Philippe Femto-St - Umr Cnrs 6174 -

Ufc/ensmm/utbm

10:25-10:45 ThAT5.6

Dual Drive Coils Design for a Long Stroke Electromagnetically Actuated Micro-Positioning System, pp. 842-847.

Khan, Muneeb-Ullah Univ. De Tech. De Compiègne Prelle, Christine Univ. De Tech. De Compiègne Lamarque, Frédéric Univ. De Tech. De Compiègne Büttgenbach, Stephanus Tech. Univ. Braunschweig

ThAT6 207-2 Robotics for Rehabilitation and Assistance (Organized Session)

Chair: Chen, Weidong Shanghai Jiao Tong Univ Co-Chair: Yi, Jingang Rutgers Univ Organizer: Chen, Weidong Shanghai Jiao Tong Univ

08:45-09:05 ThAT6.1 Experimental Validation of Stability and Performance for Position-Error-Based Tele-Surgery (I), pp. 848-853.

Li, Hongbing Shanghai Jiaotong Univ Tadano, Kotaro Tokyo Inst. of Tech Kawashima, Kenji Tokyo Medical and Dental Univ

09:05-09:25 ThAT6.2 Slip Detection and Prediction in Human Walking Using Only Wearable Inertial Measurement Units (IMUs) (I), pp. 854-859.

Trkov, Mitja Rutgers Univ Chen, Kuo Rutgers Univ Yi, Jingang Rutgers Univ Liu, Tao Zhejiang Univ

09:25-09:45 ThAT6.3 Forearm Skeleton Modeling for Pro-/supination Movement Using CT Image Measurement (I), pp. 860-865.

Nojiri, Kosei National Inst. of Tech. Kumamoto Coll

Kiyokawa, Takuya National Inst. of Tech. Kumamoto Coll

Okayama, Yoji Kyushu Memorial Hospital

09:45-10:05 ThAT6.4 Design of Respiratory Training Robot in Rehabilitation of Chronic Obstructive Pulmonary Disease (I), pp. 866-870.

Zhu, Zhihua Zhejiang Univ Cong, Bo Zhejiang Univ Liu, Fengping Zhejiang Univ Liu, Tao Zhejiang Univ Yi, Jingang Rutgers Univ Inoue, Yoshio Kochi Univ. of Tech

10:05-10:25 ThAT6.5 Experimental Study on Mapping and Localization Algorithm of Intelligent Wheelchair in Spacious and Dynamic Environments (I), pp. 871-876.

Liu, Li Shanghai Jiao Tong Univ Chen, Weidong Shanghai Jiao Tong Univ Wang, Jingchuan Shanghai Jiao Tong Univ

10:25-10:45 ThAT6.6 A Synthetic Framework for Evaluating the Anthropomorphic Characteristics of Prosthetic Hands, pp. 877-884.

Liu, Yuan Harbin Inst. of Tech Yang, Dapeng Harbin Inst. of Tech Jiang, Li Harbin Inst. of Tech Liu, Hong Harbin Inst. of Tech

ThAT7 208-1 Sensors and Sensing Systems I (Regular Session)

Chair: Chen, Xiang Univ. of Windsor Co-Chair: Son, Hungsun Ulsan National Inst. of Science

and Tech

08:45-09:05 ThAT7.1 Cost-Effective Camera Based Ground Truth for Indoor Localization, pp. 885-890.

Becker, Daniel Berlin Inst. of Tech Thiele, Fabian Berlin Inst. of Tech Sawade, Oliver Fraunhofer FOKUS Radusch, Ilja Fraunhofer FOKUS

09:05-09:25 ThAT7.2 Preliminary Experimental Study on the Sensing Performance of a Capacitive Tactile Sensor Array Mounted on Curved Surfaces, pp. 891-896.

Liang, Guanhao Zhejiang Univ Wang, Yancheng Zhejiang Univ Mei, Deqing Zhejiang Univ Xi, Kailun Zhejiang Univ Chen, Zichen Zhejiang Univ

09:25-09:45 ThAT7.3 A Novel Magnetic Orientation Sensor for Intubation Procedures, pp. 897-902.

Wu, Fang Singapore Univ. of Tech. and Design

Jeon, Jiyun Ulsan National Inst. of Science and Tech

Son, Hungsun Ulsan National Inst. of Science and Tech

09:45-10:05 ThAT7.4 Improved Leg Tracking with Data Association Considering Gait Phase During Turning Motion in Walk Tests, pp. 903-908.

Yorozu, Ayanori Keio Univ Moriguchi, Toshiki Murata Machinery, Ltd Takahashi, Masaki Keio Univ

10:05-10:25 ThAT7.5 Coverage Enhancement for Deployment of Multi-Camera Networks, pp. 909-914.

Zhang, Xuebo Nankai Univ Alarcon Herrera, Jose Luis Univ. of Windsor Chen, Xiang Univ. of Windsor

10:25-10:45 ThAT7.6 An Investigation on Temperature Measurements for Machining of Titanium Alloy Using IR Imager with Physics-Based Reconstruction, pp. 915-920.

Ji, Jingjing Huazhong Univ. of Science and Tech

Lee, Kok-Meng Georgia Tech. Univ. of Sci & Tech

Lin, Chun-Yeon Georgia Inst. of Tech Huang, Yang Huazhong Univ. of Science and

Tech ThPlenary_Session 201 & 202 Plenary Session II (Plenary Session)

Chair: Lee, Jangmyung Busan National Univ. Busan, Korea

11:00-12:00 ThPlenary_Session.1 Biologically Inspired Approach towards Implementation of Bionic Arm*.

Oh, Sang-Rok Korea Inst. of Science and Tech

ThBT1 201 Advanced Medical and Human Assist Robots (Organized Session)

Chair: Kiguchi, Kazuo Kyushu Univ Co-Chair: Yoon, Jungwon Gyeongsang National Univ Organizer: Kiguchi, Kazuo Kyushu Univ

13:15-13:35 ThBT1.1 LQR Control for a Mobile Manipulator Via COG Feedback (I), pp. 921-924.

Chen, Hu Busan National Univ. Busan, Korea

Zhao, Yudong Busan National Univ. Busan, Korea

Lee, Jangmyung Busan National Univ. Busan, Korea

13:35-13:55 ThBT1.2 Motion Planning for Fetch-And-Give Task Using Wagon and Service Robot (I), pp. 925-932.

Pyo, Yoonseok Kyushu Univ Nakashima, Kouhei Kyushu Univ Tsuji, Tokuo Kyushu Univ Kurazume, Ryo Kyushu Univ Morooka, Ken'ichi Kyushu Univ

13:55-14:15 ThBT1.3 Development of Gait Training System to Encourage Swinging the Upper Limbs Based on the Phase Change of the Shoulder Horizontal Rotation at Heel Contact (I), pp. 933-936.

Nakashima, Yasutaka Kyushu Univ Kawano, Shinya Waseda Univ Matsumoto, Yuya Waseda Univ Kobayashi, Yo Waseda Univ Fujie, Masakatsu G. Waseda Univ Yamamoto, Motoji Kyushu Univ

14:15-14:35 ThBT1.4 Motion Assistance Apparatus Enabled for Neuro-Rehabilitation of Patients and for the Promotion of Exercise for the Elderly (I), pp. 937-942.

Tanaka, Eiichirou Saitama Univ Niwa, Ryosuke Shibaura Inst. of Tech Osawa, Kazuki Shibaura Inst. of Tech Nakajima, Keyaki Shibaura Inst. of Tech Muramatsu, Keiichi Saitama Univ Watanuki, Keiichi Saitama Univ Saegusa, Shozo Shujitsu Univ Yuge, Louis Hiroshima Univ

14:35-14:55 ThBT1.5 A Study of Features of EEG Signals During Upper-Limb Motion (I), pp. 943-946.

Hayashi, Yoshiaki Saga Univ Kiguchi, Kazuo Kyushu Univ

14:55-15:15 ThBT1.6 Development of an Assistance Robot in a Hot Forging Work Site and Its Performance Evaluations (I), pp. 947-952.

Song, Jiyeon Gyeongsang National Univ Kim, Hwanggeun Gyeongsang National Univ Yoon, Jungwon Gyeongsang National Univ

ThBT2 202 Mobile Robots II (Regular Session)

Chair: Choi, Jongeun Michigan State Univ Co-Chair: Kosuge, Kazuhiro Tohoku Univ

13:15-13:35 ThBT2.1 Quality Landmark Selection from Image Streams 6Based on Distinctiveness and Repeatability, pp. 953-958.

Shimoda, Masamichi Shinshu Univ Yamazaki, Kimitoshi Shinshu Univ

13:35-13:55 ThBT2.2 Optimized Control of Skid Steering Mobile Robot with Slip Conditions, pp. 959-964.

Elshazly, Osama Egypt-Japan Univ. for Science and Tech. (E-JUST)

Zyada, Zakarya Univ. Teknologi Malaysia, (UTM),

Mohamed, Abdelfatah Egypt-Japan Univ. of Science and Tech. (EJUST)

Muscato, Giovanni Univ. Di Catania

13:55-14:15 ThBT2.3 QR-Code Based Localization for Indoor Mobile Robot with Validation Using a 3D Optical Tracking Instrument, pp. 965-970.

Lee, Seok-Ju Kettering Univ Tewolde, Girma Kettering Univ Lim, Jongil Kettering Univ Kwon, Jaerock Kettering Univ

14:15-14:35 ThBT2.4 Trajectory Tracking Control of a Vehicle with a Large Sideslip Angle, pp. 971-976.

Nakano, Hiroshi Tohoku Univ Kinugawa, Jun Tohoku Univ Kosuge, Kazuhiro Tohoku Univ

14:35-14:55 ThBT2.5 Consensus Based Attractive Vector Approach for Formation Control of Nonholonomic Mobile Robots, pp. 977-983.

Jin, Jingfu Univ. of Texas at Dallas Kim, Yoon-Gu DGIST(Daegu Gyeongbuk Inst.

of Science & Tech Wee, Sung-Gil DGIST Gans, Nicholas (Nick) Univ. Texas at Dallas

14:55-15:15 ThBT2.6 Appearance-Based Localization Using Group LASSO Regression with an Indoor Experiment, pp. 984-989.

Do, Ngoc Huan Michigan State Univ Choi, Jongeun Michigan State Univ Lim, Chae Young Michigan State Univ Maiti, Taps Michigan State Univ

ThBT3 206-1 Control Application in Mechatronics II (Regular Session)

Chair: Ouyang, Puren Ryerson Univ Co-Chair: Neher, Philipp Inst. for Control Engineering of

Machine Tools and Manufacturing Units (ISW), Univ.

Stuttgart

13:15-13:35 ThBT3.1 Zero Torque Control of Switched Reluctance Motors for Charging Reactor of Electric Vehicles, pp. 990-995.

Rashidi, Amir Isfahan Univ. of Tech Namazi, Mohammad Masoud Isfahan Univ. of Tech Saghaian-nejad, Sayed Morteza

Isfahan Univ. of Tech

Lee, Dong-Hee Kyungsung Univ Ahn, Jin-Woo Kyungsung Univ

13:35-13:55 ThBT3.2

An Extended Inertia and Eigenfrequency Emulation for Full-Scale Wind Turbine Nacelle Test Benches, pp. 996-1001.

Jassmann, Uwe RWTH Aachen Univ Abel, Dirk RWTH Aachen Univ Hakenberg, Mathias RWTH Aachen Univ

13:55-14:15 ThBT3.3 Using Game Physics Engines for Hardware-In-The-Loop Material Flow Simulations: Benefits, Requirements and Experiences, pp. 1002-1007.

Neher, Philipp Stuttgart Univ Lechler, Armin Stuttgart Univ

14:15-14:35 ThBT3.4 Slip Control of a Wheeled Mobile Robot with a Movable Auxiliary Mass, pp. 1008-1013.

Yokoyama, Makoto Niigata Univ Matsuhashi, Yuiki Niigata Univ Sano, Akira Niigata Univ Myat Thiri, Ko Niigata Univ

14:35-14:55 ThBT3.5 An Adaptive Variable Structure Control Methodology for Attitude and Position Control of a Vectored Thrust Aerial Vehicle, pp. 1014-1019.

Jayakody, Hiranya Samanga Univ. of New South Wales Katupitiya, Jayantha The Univ. of New South Wales

14:55-15:15 ThBT3.6 Position Domain PD Sliding Mode Control for Contour Tracking, pp. 1020-1025.

Ouyang, Puren Ryerson Univ Pano, Van Ryerson Univ Hu, Yuqi Hunan Univ. of Science and

Tech ThBT4 206-2 Hybrid Intelligent Systems (Regular Session)

Chair: Wang, Haitong Tsinghua Univ Co-Chair: Kim, Jeong-Jung KAIST

13:15-13:35 ThBT4.1 An Effective Hybridized Classifier for Breast Cancer Diagnosis, pp. 1026-1031.

Mittal, Dishant VIT Univ Gaurav, Dev VIT Univ Sekhar Roy, Sanjiban VIT Univ

13:35-13:55 ThBT4.2 Adaptability Improvement of Learning from Demonstration with Sequential Quadratic Programming for Motion Planning, pp. 1032-1037.

Kim, Jeong-Jung KAIST Park, So-Youn KAIST Lee, Ju-Jang KAIST

13:55-14:15 ThBT4.3 Measurement, Modeling and Compensation of Thermal Error for Machine Tools, pp. 1038-1042.

Wang, Haitong Tsinghua Univ Li, Fengchun Tsinghua Univ Li, Tiemin Tsinghua Univ Wang, Liping Tsinghua Univ

14:15-14:35 ThBT4.4 Model-Free Adaptive Neural Fuzzy Feed Forward Torque Control for Nonlinear Parallel Mechanism, pp. 1043-1048.

Ren, Qun École De Tech. Supérieure, Univ. of Quebec

Bigras, Pascal École De Tech. Supérieure, Univ. of Quebec

14:35-14:55 ThBT4.5 Robust Tracking Control of Networked Control Systems Included Uncertainties, pp. 1049-1054.

Dinh, Quang Truong Univ. of Ulsan Ahn, Kyoung Kwan Univ. of Ulsan Dao, Thanh Liem Univ. of Ulsan Lee, Seyoung Univ. of Ulsan

14:55-15:15 ThBT4.6 Artificial Neural Circuit Integration for MEMS Microrobot System (I), pp. 1055-1060.

Saito, Ken Coll. of Science and Tech. Nihon Univ

Takato, Minami Nihon Univ Ishihara, Yuki Nihon Univ Sugita, Kazuki Nihon Univ Okane, Yuki Nihon Univ Oku, Hirozumi Nihon Univ Asano, Yohei Nihon Univ Iwata, Kei Nihon Univ Tatani, Masaki Nihon Univ Sekine, Yoshifumi Nihon Univ Uchikoba, Fumio Nihon Univ

ThBT5 207-1 Actuators in Mechatronic Systems I (Regular Session)

Chair: Ohishi, Kiyoshi Nagaoka Univ. of Tech Co-Chair: Wang, Shaoping Beihang Univ

13:15-13:35 ThBT5.1 Multi-Degree of Freedom Platform Based on Spherical Wheels, pp. 1061-1065.

Park, SangA Ulsan National Inst. of Science and Tech

Son, Hungsun Ulsan National Inst. of Science and Tech

13:35-13:55 ThBT5.2 A Comparison of Some Famous Electromechanical Soft Actuators, pp. 1066-1071.

Taghia, Javad Univ. of New South Wales

13:55-14:15 ThBT5.3 Rotational Twisted String Actuator with Linearized Output: Mathematical Model and Experimental Evaluation, pp. 1072-1077.

Mehmood, Usman Korea Univ. of Tech. and Education

Popov, Dmitry KOREATECH, Korea Univ. of Tech. and Education

Gaponov, Igor Korea Univ. of Tech. and Education

Ryu, Jee-Hwan Korea Univ. of Tech. and Education

14:15-14:35 ThBT5.4 FPGA Based Fine Tracking Control System for Blu-Ray Disc System Considering 1.5usec Delay Time (I), pp. 1078-1083.

Yoshida, Keisuke Nagaoka Univ. of Tech Ohashi, Takahiro Nagaoka Univ. of Tech Ohishi, Kiyoshi Nagaoka Univ. of Tech Miyazaki, Toshimasa Nagaoka Univ. of Tech

14:35-14:55 ThBT5.5 Design and Analysis of an Elastic Mechanism with Adjustable Zero-To-Infinite Linear Stiffness (I), pp. 1084-1089.

Wu, Tai-Hsun National Cheng Kung Univ Lan, Chao-Chieh National Cheng Kung Univ

14:55-15:15 ThBT5.6 Study of the Efficiency of an Electronically-Controlled Linear Escapement, pp. 1090-1095.

Besuchet, Romain Ec. Pol. Fédérale De Lausanne (EPFL)

Civet, Yoan EPFL Perriard, Yves Ec. Pol. Fédérale De Lausanne

(EPFL) ThBT6 207-2 Flexible Manipulators and Structures (Regular Session)

Chair: Fukamachi, Naofumi Univ. of Tsukuba Co-Chair: Lan, Chao-Chieh National Cheng Kung Univ

13:15-13:35 ThBT6.1 Cooperative String Looping by Dual Shooting Manipulation (I), pp. 1096-1101.

Hatakeyama, Tomofumi Univ. of Tsukuba Mochiyama, Hiromi Univ. of Tsukuba

13:35-13:55 ThBT6.2 Palm-Top Jumping and Crawling Robot Using Snap-Through Buckling of Arched Elastica Supported by $Omega$-Shaped Frame (I), pp. 1102-1107.

Fukamachi, Naofumi Univ. of Tsukuba Mochiyama, Hiromi Univ. of Tsukuba

13:55-14:15 ThBT6.3 Design of a Low-Cost Underactuated Finger for Positioning or Pinching Thin Objects, pp. 1108-1113.

Fan, Jinchang Zhejiang Univ Yang, Can-Jun Zhejiang Univ Bi, Qian Zhejiang Univ Gu, Hao ABB Corp. Res. Center

14:15-14:35 ThBT6.4 Wave-Based Load Disturbance Observer for Robust Enhancement of Reflected Wave Rejection-Based Vibration Control, pp. 1114-1119.

Saito, Eiichi Keio Univ Katsura, Seiichiro Keio Univ

14:35-14:55 ThBT6.5 Trajectory Control of Robot Arm Using Flexible Pneumatic Cylinders and Embedded Controller, pp. 1120-1125.

Mohd, Aliff Okayama Univ. of Science Dohta, Shujiro Okayama Univ. of Science Akagi, Tetsuya Okayama Univ. of Secience

14:55-15:15 ThBT6.6 Comparison of Passivity Based Impedance Controllers without Torque-Feedback for Variable Stiffness Actuators, pp. 1126-1131.

Lendermann, Markus Tech. Univ. Darmstadt Singh, Bajwa Roodra Pratap Indian Inst. of Tech. Madras Stuhlenmiller, Florian Tech. Univ. Darmstadt Beckerle, Philipp Tech. Univ. Darmstadt Rinderknecht, Stephan Tech. Univ. Darmstadt Pudureddiyur Venkataraman, Manivannan

IIT Madras

ThBT7 208-1 Sensors and Sensing Systems II (Regular Session)

Chair: Whitney, Ann Univ. of Kentucky Co-Chair: Jung, Seul Chungnam National Univ

13:15-13:35 ThBT7.1 A Haptic Interface with Adjustable Stiffness Using MR Fluid, pp. 1132-1137.

Somlor, Sophon Waseda Univ Aguirre Dominguez, Gonzalo Waseda Univ Schmitz, Alexander Waseda Univ Kamezaki, Mitsuhiro Waseda Univ Sugano, Shigeki Waseda Univ

13:35-13:55 ThBT7.2 RSSI Informed Phase Method for Distance Calculations, pp. 1138-1142.

Whitney, Ann Univ. of Kentucky Parker, Johne Univ. of Kentucky Engelhard, Mallory Paul Laurence Dunbar High

School Kratzer, Zach Lexmark International Fessler, John Lexmark International

14:15-14:35 ThBT7.4 Hybrid Electromagnetic-Piezoelectric Transduction for a Frequency Up-Converted Energy Harvester, pp. 1149-1154.

Edwards, Bryn Univ. of Auckland Aw, Kean C. The Univ. of Auckland Hu, Aiguo Patrick Univ. of Auckland Tang, Lihua Univ. of Auckland

14:35-14:55 ThBT7.5 Experimental Verification of Physical Relation between a Gimbal System and a Body System: GYROBO, pp. 1155-1160.

Lee, Sangdeok Chungnam National Univ Jung, Seul Chungnam National Univ

14:55-15:15 ThBT7.6 Slew Bearing Early Damage Detection Based on Multivariate State Estimation Technique and Sequential Probability Ratio Test, pp. 1161-1166.

Caesarendra, Wahyu Diponegoro Univ Lee, Jong Myeong Gyeongsang National Univ Ha, Jung Min Gyeongsang National Univ Choi, Byeong Keun Gyeongsang National Univ

ThInvitedT2 202 Invited Session II (Invited Session)

Chair: Kim, Jong-Wook Dong-A Univ

15:30-16:30 ThInvitedT2.1 Motion-Copying System for Perfect Reproduction of Human Motion*.

Katsura, Seiichiro Keio Univ ThPosterT1 201 Poster Session II (Poster Session)

Chair: Asano, Fumihiko Japan Advanced Inst. of Science and Tech

Co-Chair: Wu, Changgui Tsinghua Univ

16:30-17:30 ThPosterT1.2 Application of Particle Swarm Optimization for Tuning the SVR Parameters, pp. 1173-1177.

Wang, Xinqing China Univ. of Petroleum Gao, Juan Qingdao Harbour Vocational and

Tech. Coll

16:30-17:30 ThPosterT1.3 Stability Analysis of Limit Cycle Walking in Traversing Steps Based on Semianalytical Solution of Transition Function of State Error, pp. 1178-1183.

Asano, Fumihiko Japan Advanced Inst. of Science and Tech

16:30-17:30 ThPosterT1.4 A Novel Generation Method for Underactuated Bipedal Gait with Landing Position Control of Swing Leg Based on Property of Zero Dynamics, pp. 1184-1189.

Asano, Fumihiko Japan Advanced Inst. of Science and Tech

16:30-17:30 ThPosterT1.5 Research on Dynamic Transmission Characteristics of Box-Like Structures Based on a Hybrid Model Method, pp. 1190-1194.

Gao, Weijin BeiHang Univ Wang, Liang BeiHang Univ

16:30-17:30 ThPosterT1.6 High Integrated Modular Joint for Chinese Space Station Experiment Module Manipulator, pp. 1195-1200.

Shi, Shicai Harbin Inst. of Tech Wang, Da Harbin Inst. of Tech Ruan, Sipu Honors School of Harbin Inst. of

Tech Li, Rong Department of Automobile,

Heilongjiang Inst. of Tech Jin, Minghe Harbin Inst. of Tech Liu, Hong Harbin Inst. of Tech

16:30-17:30 ThPosterT1.7 An Efficient Adaptive Sequential Polynomial Chaos Expansion Metamodel, pp. 1201-1206.

Chen, Guangsong Nanjing Univ. of Science and Tech

Qian, Linfang Nanjing Univ. of Science and Tech

Ma, Jia Nanjing Univ. of Science and Tech

Ji, Lei Nanjing Univ. of Science and Tech

16:30-17:30 ThPosterT1.8 A General Optimization Framework for Complex PDE Models Based on Data Interactive Mechanism, pp. 1207-1211.

Li, Kangji Jiangsu Univ Xue, Wenping Jiangsu Univ Liu, Guohai Jiangsu Univ

16:30-17:30 ThPosterT1.9 A Modified Vibration Model for Piezoelectric Energy Harvester by Considering the Joints between Adjacent Parts, pp. 1212-1217.

Chen, Chung-De Feng Chia Univ Yang, Yu-Rui Feng Chia Univ

16:30-17:30 ThPosterT1.10 Tool Holder Sensor Design for Measuring the Cutting Force in CNC Turning Machines, pp. 1218-1223.

Yeh, Syh-Shiuh National Taipei Univ. of Tech Reyes-Uquillas, Daniel Alberto

National Taipei Univ. of Tech

16:30-17:30 ThPosterT1.11 Pose Measurement of Robot Arm End Based on Laser Range Finders, pp. 1224-1228.

Liu, Hong Harbin Inst. of Tech Zhang, Yu Harbin Inst. of Tech Sun, Kui Harbin Inst. of Tech Fan, Shaowei Harbin Inst. of Tech Chen, Jiawei Harbin Inst. of Tech

16:30-17:30 ThPosterT1.12 Modelling and Analyzing of Postural Synergy Based Underactuated Robotic Hand with Contact and Friction Constraints, pp. 1229-1234.

Li, Shunchong Shanghai Jiao Tong Univ Sheng, Xinjun Shanghai Jiao Tong Univ Zhu, Xiangyang Shanghai Jiao Tong Univ

16:30-17:30 ThPosterT1.13 Design and Control of a Robotic Wrist Orthosis for Joint Rehabilitation, pp. 1235-1240.

Meng, Wei The Univ. of Auckland Sheng, Bo Univ. of Auckland Klinger, Michael Univ. of Auckland Liu, Quan Wuhan Univ. of Tech Zhou, Zude Wuhan Univ. of Tech Xie, Sheng Quan Univ. of Auckland

16:30-17:30 ThPosterT1.14 Model Based Open-Loop Posture Control of a Parallel Ankle Assessment and Rehabilitation Robot, pp. 1241-1246.

Zhang, Mingming The Univ. of Auckland Sheng, Bo Univ. of Auckland Davies, T.Claire Univ. of Auckland Meng, Wei The Univ. of Auckland Xie, Sheng Quan Univ. of Auckland

16:30-17:30 ThPosterT1.16 Ground Micro-Gravity Verification of Free-Floating Non-Cooperative Satellite Docking, pp. 1253-1258.

Yang, Haitao Harbin Inst. of Tech Jin, Minghe Harbin Inst. of Tech Xie, Zongwu Harbin Inst. of Tech Zhang, Yu Harbin Inst. of Tech Sun, Kui Harbin Inst. of Tech Zhao, Xiaoyu Harbin Inst. of Tech

16:30-17:30 ThPosterT1.17 Map Building of Indoor Environment Using Laser Range Finder and Geometrics, pp. 1259-1264.

Kim, Eun Kyeong Pusan National Univ Cho, HyunHak Pusan National Univ Jang, EunSeok Pusan National Univ Park, Myung Kuk Pusan National Univ Kim, Sungshin Pusan National Univ

16:30-17:30 ThPosterT1.18 Design and Optimization of Piezoelectric Actuated Plate Eigenmodes for Workpiece Transportation, pp. 1265-1270.

Shi, Dan EPFL Civet, Yoan EPFL Perriard, Yves Ec. Pol. Fédérale De Lausanne

(EPFL)

16:30-17:30 ThPosterT1.19 Design of Hyper Redundant Robot Using Ball Screw Mechanism Approach, pp. 1271-1276.

Bayani, Salar Islamic Azad Univ Rastegari, Rambod Islamic Azad Univ Cheraghpour Samavati, Farzad

Islamic Azad Univ

16:30-17:30 ThPosterT1.20 Design of Control System for Optical Fiber Assembly, pp. 1277-1282.

Huang, Xiaojin Beihang Univ Chen, Weihai Beihang Univ Zhang, Jianbin Beihang Univ Wang, Shaoping Beihang Univ

16:30-17:30 ThPosterT1.21 Position Tracking System Using Single RGB-D Camera for Evaluation of Multi-Rotor UAV Control and Self-Localization, pp. 1283-1288.

Baek, Jun Young Pusan National Univ Park, Se Hong Pusan National Univ Cho, Beom-Seok Pusan National Univ Lee, Min Cheol Pusan National Univ

16:30-17:30 ThPosterT1.22 Development of Temperature Sensing System in Downhole Application from Temperature Field in Oil Well, pp. 1289-1291.

Deng, Yongqiang China Acad. of Engineering Physics

Shi, Lei Downhole Operation Projection Company, Cheng Du, Si Chuan

Chen, Yanqiu China Acad. of Engineering Physics

Liu, Yu Chengdu Green Energy and Green Manufacturing Tech. R&D

Cent ThCT5 207-1 Actuators in Mechatronic Systems II (Regular Session)

Chair: Dresscher, Douwe Univ. of Twente Co-Chair: Hasturk, Ozgur Roketsan Missile Industries Inc

15:30-15:50 ThCT5.1 Research on PMA Properties and Humanoid Low Limb Application, pp. 1292-1297.

Jiang, Feilong Zhejiang Univ Tao, Guoliang Zhejiang Univ Liu, Hao Zhejiang Univ

15:50-16:10 ThCT5.2 A Novel Electromechanical Actuator for Missile Jet Vane Thrust Control, pp. 1298-1302.

Hasturk, Ozgur Roketsan Missile Industries Inc

16:10-16:30 ThCT5.3 Design Considerations for a Radially Magnetized Permanent Magnet Worm Drive Actuator, pp. 1303-1308.

Efobi, Okechukwu Yokohama National Univ Fujimoto, Yasutaka Yokohama National Univ

16:30-16:50 ThCT5.4 A Novel Concept for a Translational Continuously Variable Transmission, pp. 1309-1315.

Dresscher, Douwe Univ. of Twente De Vries, Theo Univ. of Twente Stramigioli, Stefano Univ. of Twente

16:50-17:10 ThCT5.5 Development and Analysis of an Electrically Activated Sucker for Handling Workpieces with Rough Surface, pp. 1316-1321.

Dong, Lujian Zhejiang Univ Li, Xin Zhejiang Univ Liu, Hao Zhejiang Univ Tao, Guoliang Zhejiang Univ

17:10-17:30 ThCT5.6 A Concept for a Robot Arm with Adjustable Series Clutch Actuators and Passive Gravity Compensation for Enhanced Safety, pp. 1322-1327.

Schmitz, Alexander Waseda Univ Bhavaraju, Soumya Waseda Univ. Sugano Lab Somlor, Sophon Waseda Univ Aguirre Dominguez, Gonzalo Waseda Univ. Sugano Lab Kamezaki, Mitsuhiro Waseda Univ Wang, Wei Waseda Univ Sugano, Shigeki Waseda Univ

ThCT6 207-2 Flexible Mechatronics for Intelligent Manufacturing and Robotics (Organized Session)

Chair: Wang, Qining Peking Univ Co-Chair: Zhang, Ying Northwestern Pol. Univ Organizer: Guo, Jiajie Huazhong Univ. of Science and

Tech Organizer: Lan, Chao-Chieh National Cheng Kung Univ

15:30-15:50 ThCT6.1 Efficiency Analysis of Sinusoidal Stiffness Variation Method for Chatter Suppression (I), pp. 1328-1333.

Sun, Yuxin Shanghai Jiao Tong Univ Xiong, Zhenhua Shanghai Jiao Tong Univ

15:50-16:10 ThCT6.2 Transitions of Three Gaits in Dynamic Bipedal Robot with Adaptable Joint Stiffness (I), pp. 1334-1339.

Huang, Yan Peking Univ Chen, Liyang Peking Univ Vanderborght, Bram Vrije Univ. Brussel Wang, Qining Peking Univ

16:10-16:30 ThCT6.3 An Evolutionary Topology Optimization Method for Design of Compliant Mechanisms with Two-Dimensional Loading (I), pp. 1340-1345.

Liu, Chih-Hsing National Cheng Kung Univ Huang, Guo Feng National Cheng Kung Univ Chiu, Chen-Hua National Cheng Kung Univ

16:30-16:50 ThCT6.4 Damping Support Fixture for Vibration Suppression in Milling of Thin-Walled Casing (I), pp. 1346-1349.

Luo, Ming Northwestern Pol. Univ Zhang, Xiaofan Northwestern Pol. Univ Wu, Baohai Northwestern Pol. Univ

16:50-17:10 ThCT6.5 Displacement Field Sensing and Reconstruction for Vibration of a Thin-Wall Plate (I), pp. 1350-1355.

Guo, Jiajie Huazhong Univ. of Science and Tech

Liu, Ruochu Huazhong Univ. of Sciences and Tech

Lee, Kok-Meng Georgia Tech. Univ. of Sci & Tech

17:10-17:30 ThCT6.6 An Adaptive Approach to Error Compensation by On-Machine Measurement for Precision Machining of Thin-Walled Blade (I), pp. 1356-1360.

Zhang, Ying Northwestern Pol. Univ Zhang, Dinghua Northwestern Pol. Univ Wu, Baohai Northwestern Pol. Univ

Technical Program for Friday July 10, 2015

FrAT1 201 Motion Vibration and Noise Control (Regular Session)

Chair: Sakr, Ahmed Cairo Univ. Faculty of Engineering, Mechanical Design

and Production Dept Co-Chair: Chen, Silu Singapore Inst. of Manufacturing

Tech

08:45-09:05 FrAT1.1 Low-Order Feedforward Control Schemes for Flexible Motion Systems with Different Rigid-Body Damping, pp. 1361-1366.

Li, Xiaocong National Univ. of Singapore Chen, Silu Singapore Inst. of Manufacturing

Tech Teo, Chek Sing SIMTech Tan, Kok Kiong National Univ. of Singapore

09:05-09:25 FrAT1.2 System Frequency Tuning for Heaving Buoy Wave Energy Converters, pp. 1367-1372.

Sakr, Ahmed Cairo Univ Anis, Yasser Cairo Univ Metwalli, Sayed Cairo Univ

09:25-09:45 FrAT1.3 Robust Stabilization for Friction-Induced Vibration with Parameter Uncertainties, pp. 1373-1377.

Liang, Yao Tokyo Inst. of Tech

09:45-10:05 FrAT1.4 A Benchmark Study on the Planning and Control of Industrial Robots with Elastic Joints, pp. 1378-1383.

Kim, Joonyoung Hyundai Heavy Industries Co., Ltd

Croft, Elizabeth Univ. of British Columbia

10:05-10:25 FrAT1.5 A Feasibility Study of Designing a Tunable Vibration Absorber Using Stiffness Variable Magnetorheological Gel, pp. 1384-1387.

Shin, Beom-Cheol Handong Global Univ Yoon, Jung-Hwan Handong Global Univ Kim, Young-Keun Handong Global Univ Kim, Kyung-Soo KAIST(Korea Advanced Inst. of

Science and Tech FrAT2 202 Industrial Application of Sensors (Organized Session)

Chair: Kim, Jong-Wook Dong-A Univ Co-Chair: Jin, TaeSeok DongSeo Univ Organizer: Kim, Jong-Wook Dong-A Univ Organizer: Kim, Gugyong Dong-Eui Inst. of Tech Organizer: Choe, Jongguk LG Production Engineering Res.

Inst Organizer: Jin, TaeSeok DongSeo Univ Organizer: Go, Seokjo DONGEUI Inst. of Tech

08:45-09:05 FrAT2.1 Robust 3D Map Building for a Mobile Robot Moving on the Floor (I), pp. 1388-1393.

Hwang, Yo-Seop Pusan National Univ Lee, Jangmyung Pusan National Univ

09:05-09:25 FrAT2.2 Dynamic Modeling-Based Flight PD Controller Applied to an Unmanned Hexarotor Helicopter (I), pp. 1394-1397.

Han, Jae-Gyun Dongseo Univ

Jin, TaeSeok DongSeo Univ

09:25-09:45 FrAT2.3 Study on Measurement Free Fall Posture and Height of a Mobile Device Using MEMS Sensors (I), pp. 1398-1401.

Kim, Gugyong Dong-Eui Inst. of Tech Choe, Jongguk LG Production Engineering Res.

Inst

09:45-10:05 FrAT2.4 Development of 3D Laser Rrange Finder System for Object Recognition (I), pp. 1402-1405.

Moon, Young-Geun Pusan National Univ Go, Seokjo DONGEUI Inst. of Tech Yu, Ki-Ho Pusan National Univ Lee, Min Cheol Pusan National Univ

10:05-10:25 FrAT2.5 Sensory Reflex Control of a Humanoid Robot Using FSR Sensor (I), pp. 1406-1409.

Kim, Jong-Wook Dong-A Univ Dang Van, Chien Dong-A Univ Sung, Ki Je Dong-A Univ

10:25-10:45 FrAT2.6 Design of a Sensing System for a Spherical Motor Based on Hall Effect Sensors and Neural Networks (I), pp. 1410-1414.

Guo, Jinjun Nanyang Tech. Univ Bak, Chanbeom Ulsan National Inst. of Science

and Tech Son, Hungsun Ulsan National Inst. of Science

and Tech FrAT3 206-1 Robot Dynamics and Control I (Regular Session)

Chair: Shammas, Elie American Univ. of Beirut Co-Chair: Li, Yangmin Univ. of Macau

08:45-09:05 FrAT3.1 A Generalized Underactuated Robot System Inversion Method Using Hamiltonian Formalism, pp. 1415-1420.

Short, Joel Stephen National Univ. of Singapore Poo, Jim A.N. National Univ. of Singapore Lai, Chow Yin A*STAR Singapore Inst. of

Manufacturing Tech Tao, Pey Yuen SIMTech Ang Jr, Marcelo H National Univ. of Singapore

09:05-09:25 FrAT3.2 Dynamics and Control of an Overhead Shuttle Transport System, pp. 1421-1426.

Kim, Gyoung-Hahn Pusan National Univ Shah, Umer Hameed Pusan National Univ Piao, Mingxu Pusan National Univ Choi, Sang-Hei Korea Maritime Inst Kim, Seoung-Nam Seoho Electric Hong, Keum-Shik Pusan National Univ

09:25-09:45 FrAT3.3 An Adaptive Neural Network Compensator for Decoupling of Dynamic Effects of a Macro-Mini Manipulator, pp. 1427-1432.

Wu, Ting-Ying A*STAR Singapore Inst. of Manufacturing Tech

Lai, Chow Yin A*STAR Singapore Inst. of Manufacturing Tech

Chen, Silu A*STAR Singapore Inst. of Manufacturing Tech

09:45-10:05 FrAT3.4

Modeling, Analysis, and Controllability of a Single-Actuator Differentially-Driven Robot, pp. 1433-1438.

Alsalman, Mohamad American Univ. of Beirut Shammas, Elie American Univ. of Beirut Salman, Hadi American Univ. of Beirut

10:05-10:25 FrAT3.5 Cross-Coupling Control of the HIT-DLR Robotic Finger, pp. 1439-1444.

Wang, Xinqing China Univ. of Petroleum Gao, Juan Qingdao Harbour Vocational and

Tech. Coll Pan, Jun Haerbin Inst. of Tech

10:25-10:45 FrAT3.6 Dynamic Analysis of a 3-DOF 3-PUU Parallel Manipulator Based on the Principle of Virtual Work, pp. 1445-1450.

Lu, Song Univ. of Macau Li, Yangmin Univ. of Macau/Tianjin Univ. of

Tech FrAT4 206-2 Mechatronics in Manufacturing Processes (Regular Session)

Chair: Hsu, Pau-Lo National Chiao Tung Univ Co-Chair: Csiszar, Akos Univ. of Stuttgart

08:45-09:05 FrAT4.1 A Combinatorial Optimization Approach to the Denavit-Hartenberg Parameter Assignment, pp. 1451-1456.

Csiszar, Akos Univ. of Stuttgart

09:05-09:25 FrAT4.2 Analytical Development of a Minimum Bearing Reaction Twin-Motor for Duplex Machining, pp. 1457-1462.

Bai, Kun Huazhong Univ. of Science and Tech

Lee, Kok-Meng Georgia Tech. Univ. of Sci & Tech

Cao, Jun State Key Lab. of Digital Manufacturing Equipment and

Tech Hao, Bingjie State Key Lab. of Digital

Manufacturing Equipment and Tech

09:25-09:45 FrAT4.3 The Angle Cutting Robot System in the Shipbuilding Industry, pp. 1463-1466.

Nam, Mihee Samsung Heavy Industries and Pusan National Univ

Mun, SeungHwan Samsung Heavy Industries and Pusan National Univ

Lee, JaeChang Samsung Heavy Industries Lee, Jangmyung Busan National Univ. Busan,

Korea

09:45-10:05 FrAT4.4 Robust Controller Design for CNC Servo Motors against the Variation of External Loading Via The〖 H〗 _∞ /QFT Approach, pp. 1467-1471.

Wu, Bo-Yi Univ. of Chiao-Tung Hsu, Pau-Lo Univ. of Chiao-Tung

10:05-10:25 FrAT4.5 A Constrained Linear Quadratic Optimization Approach to Jerk Decoupling Cartridge Design for Vibration Suppression, pp. 1472-1477.

Chen, Silu Singapore Inst. of Manufacturing Tech

Ma, Jun National Univ. of Singapore

Teo, Chek Sing SIMTech Kong, Chun Jeng Singapore Inst. of Manufacturing

Tech Lin, Wei SIMTech, A*STAR Tay, Arthur National Univ. of Singapore Mamun, Abdullah Al National Univ. of Singapore

10:25-10:45 FrAT4.6 Machine Assisted Manual Torch Operation in Gas Tungsten Arc Welding Process, pp. 1478-1483.

Huang, Ning Beijing Univ. of Tech Chen, Shujun Beijing Univ. of Tech Zhang, Yuming Univ. of Kentucky

FrAT5 207-1 Intelligent Process Automation (Regular Session)

Chair: Tjahjowidodo, Tegoeh Nanyang Tech. Univ Co-Chair: Xiong, Zhenhua Shanghai Jiao Tong Univ

08:45-09:05 FrAT5.1 Automatic Defect Detection and the Estimation of Nominal Profiles Based on Spline for Free-Form Surface Parts, pp. 1484-1489.

Dung, Van Than Nanyang Tech. Univ Tjahjowidodo, Tegoeh Nanyang Tech. Univ Han, Ming Li Advanced Remanufacturing and

Tech. Centre

09:05-09:25 FrAT5.2 A Fast Non-Uniform Knots Placement Method for B-Spline Fitting, pp. 1490-1495.

Tjahjowidodo, Tegoeh Nanyang Tech. Univ Dung, Van Than Nanyang Tech. Univ Han, Ming Li Advanced Remanufacturing and

Tech. Centre

09:25-09:45 FrAT5.3 Weld Quality Assessment Based on Arc Sensing for Robotic Welding, pp. 1496-1501.

Lubecki, Tomasz Marek Singapore Inst. of Manufacturing Tech

Bai, Fengjun Singapore Inst. of Manufacturing Tech

09:45-10:05 FrAT5.4 Sub-Assembly Welding Robot System at Shipyards, pp. 1502-1507.

Mun, SeungHwan Samsung Heavy Industries and Pusan National Univ. Korea

Nam, Mihee Samsung Heavy Industries and Pusan National Univ. Korea

Lee, JaeChang Samsung Heavy Industries, Korea

Doh, KyuWon Samsung Heavy Industries, Korea

Park, GiBeom Samsung Heavy Industries, Korea

Lee, HyunCheol Samsung Heavy Industries, Korea

Kim, DaeKyung Samsung Heavy Industries, Korea

Lee, Jangmyung Pusan National Univ. Busan, Korea

10:05-10:25 FrAT5.5 Flexible Workpiece Vibration Suppression in Milling Process Based on a New Response Metric, pp. 1508-1513.

Zhang, Xiaoming Huazhong Univ. of Science and Tech

Zhang, Dong Huazhong Univ. of Science and

Tech Lee, Kok-Meng Georgia Tech. Univ. of Sci &

Tech Ding, Han Shanghai Jiao Tong Univ

10:25-10:45 FrAT5.6 Intelligent Chatter Detection Based on Wavelet Packet Node Energy and LSSVM-RFE, pp. 1514-1519.

Qian, Shicai Shanghai Jiao Tong Univ Sun, Yuxin Shanghai Jiao Tong Univ Xiong, Zhenhua Shanghai Jiao Tong Univ

FrAT6 207-2 Design Optimization in Mechatronics (Regular Session)

Chair: Cao, Jian Zhejiang Univ Co-Chair: Kim, Bong Keun National Inst. of Advanced

Industrial Science and Tech

08:45-09:05 FrAT6.1 Design of Novel High Speed 2-Phase 4/3 Switched Reluctance Motor for Air-Blower Application, pp. 1520-1524.

Pham, Trung Hieu Kyungsung Univ Lee, Dong-Hee Kyungsung Univ Ahn, Jin-Woo Kyungsung Univ

09:05-09:25 FrAT6.2 Optimal Design of a Compound Hybrid System Consisting of Torque Coupling and Energy Regeneration for Hydraulic Hybrid Excavator, pp. 1525-1530.

Xiao, Yang Zhejiang Univ Guan, Cheng Zhejiang Univ Li, Perry Univ. of Minnesota Wang, Fei Zhejiang Univ

09:25-09:45 FrAT6.3 Analytical Modeling and Optimal Design of a MR Damper with Power Generation, pp. 1531-1536.

Zhu, Xiaocong Zhejiang Univ Wang, Weiwei Zhejiang Univ Yao, Bin Zhejiang Univ Cao, Jian Zhejiang Univ Wang, Qingfeng Zhejiang Univ

09:45-10:05 FrAT6.4 Optimum Electric Cable Selection for Kite-Like Unmanned Aerial Vehicle, pp. 1537-1540.

Wang, Ko-Yuan National Chiao Tung Univ Lee, Pei Hsuan National Chiao Tung Univ Hung, Shao-Kang National Chiao Tung Univ

10:05-10:25 FrAT6.5 Indoor Snowfall Simulation Chamber for Realizing Uniform Snowfall, pp. 1541-1545.

Kim, Bong Keun National Inst. of Advanced Industrial Science and Tech

Sumi, Yasushi National Inst. of Advanced Industrial Science and Tech

FrAT7 208-1 Aerial Robots (Regular Session)

Chair: Chae, Heeseo Samsung Tech Co-Chair: Wang, Zhongkui Ritsumeikan Univ

08:45-09:05 FrAT7.1 Tracking a Moving Ground Object Using Quadcopter UAV in a Presence of Noise, pp. 1546-1551.

Razinkova, Anastasia Korea Univ. of Tech. and

Education Cho, Hyun-Chan Korea Univ. of Tech. and

Education

09:05-09:25 FrAT7.2 Parameter Estimation for the Pitching Dynamics of a Flapping-Wing Flying Robot, pp. 1552-1558.

Chand, Aneesh Neeschal Toyota Tech. Inst Kawanishi, Michihiro Toyota Tech. Inst Narikiyo, Tatsuo Toyota Tech. Inst

09:25-09:45 FrAT7.3 Laser Interferometry-Based Tracking of Multirotor Helicopters, pp. 1559-1564.

Porter, Robert John Monash Univ Shirinzadeh, Bijan Monash Univ Choi, Man Ho Monash Univ Bhagat, Umesh Monash Univ

09:45-10:05 FrAT7.4 Origami Structure Toward Floating Aerial Robot, pp. 1565-1569.

Le, Phuong Ritsumeikan Univ Wang, Zhongkui Ritsumeikan Univ Hirai, Shinichi Ritsumeikan Univ

10:05-10:25 FrAT7.5 Modelling and Control of Quadrotor Maneuvers with Variations of Center of Gravitry (COG), pp. 1570-1574.

Lotfi, Behrooz Islamic Azad Univ. Mashhad Branch

Goharimanesh, Masoud Ferdowsi Univ. of Mashhad, Mashhad, Iran

Huang, Loulin Auckland Univ. of Tech

10:25-10:45 FrAT7.6 The IoT Based Automate Landing System of a Drone for the Round-The-Clock Surveillance Solution, pp. 1575-1580.

Chae, Heeseo Samsung Tech Park, JunHo Samsung Tech Song, HoNam Samsung Tech Kim, YongHwan Samsung Tech Jeong, Hae Wook Samsung Tech

FrPlenary_Session 201 & 202 Plenary Session III (Plenary Session)

Chair: Lee, Min Cheol Pusan National Univ

11:00-12:00 FrPlenary_Session.1 Robotic Self-Reconfiguration, Self-Repair, and Self-Replication*.

Chirikjian, Gregory Johns Hopkins Univ FrBT1 201 Sensor Integration, Data Fusion (Regular Session)

Chair: Chen, Xiaohan Beihang Univ Co-Chair: Kim, Byoung-Ho Kyungsung Univ

13:15-13:35 FrBT1.1 A PCB Inductive Sensor for Compact Ionic Polymer Metal Composite (IPMC) Displacement Sensing Used in Biomedical Pumps, pp. 1581-1584.

Wang, Jiaqi The Univ. of Auckland Aw, Kean C. The Univ. of Auckland McDaid, Andrew The Univ. of Auckland Sharma, Rajnish The Univ. of Auckland

13:35-13:55 FrBT1.2 Pose Estimation of Robotic End-Effectors under Low Speed

Motion Using EKF with Inertial and SE(3) Measurements, pp. 1585-1590.

Chen, Xiaohan Singapore Univ. of Tech. and Design

Soh, Gim Song Singapore Univ. of Tech. and Design

Foong, Shaohui Singapore Univ. of Tech. and Design

Otto, Kevin Singapore Univ. of Tech. and Design

13:55-14:15 FrBT1.3 Performance Analysis of Mobile Robot Self-Localization Based on Different Configurations of RFID System, pp. 1591-1596.

Mi, Jian Univ. of Fukui Takahashi, Yasutake Univ. of Fukui

14:15-14:35 FrBT1.4 A Novel Soft Intelligent Calibrator for Low-Velocity Hot Bulb Anemometers, pp. 1597-1602.

Zhang, Hongsheng Beihang Univ Li, Yun-Ze Beihang Univ Zhong, Ming Liang Beihang Univ Li, Miao Beihang Univ Guo, Wei Beihang Univ Liu, Yang Beihang Univ

14:35-14:55 FrBT1.5 Design and Modelling of a Test Bench to Characterize Magnetic Fluids, pp. 1603-1607.

Cuchet, Cécile Epfl, Lai Espanet, Christophe Moving Magnet Tech. S.A Civet, Yoan EPFL Perriard, Yves Ec. Pol. Fédérale De Lausanne

(EPFL) Biwersi, Stéphane Moving Magnet Tech. S.A

14:55-15:15 FrBT1.6 The Fault-Tolerant Control of Tilt Sensor for EPB, pp. 1608-1612.

Pi, Dawei Nanjing Univ. of Science and Tech

Xu, Jialin Nanjing Univ. of Science and Tech

Wang, Hongliang Nanjing Univ. of Science and Tech

Shi, Bingliang PLA Li, Nan PLA

FrBT2 202 Novel Industry Applications of Mechatronics (Regular Session)

Chair: Huang, Shouren Univ. of Tokyo Co-Chair: Kim, Young-Keun Handong Global Univ

13:15-13:35 FrBT2.1 Sensor Guided Robot Path Generation for Repairing Drilling Riser Buoyancy Module, pp. 1613-1618.

Deng, Di Singapore Inst. of Manufacturing Tech

Sam, Wai Ban Singapore Inst. of Manufacturing Tech

Tao, Pey Yuen SIMTech Lubecki, Tomasz Marek Singapore Inst. of Manufacturing

Tech

13:35-13:55 FrBT2.2 Simple Triboelectric Generator Applied on Macro-Sized Surface Patterns and Test-Bed Device to Control Humidity, pp. 1619-1622.

Yang, Jun-Ho Handong Global Univ

Kim, Seong-Yoon Handong Global Univ Sim, Seong Bo Handong Global Univ Kim, Young-Keun Handong Global Univ Lee, Jae Young Handong Global Univ

13:55-14:15 FrBT2.3 A Novel Propeller–type Climbing Robot for Vessels Inspection, pp. 1623-1628.

Alkalla, Mohamed Egypt-Japan Univ. for Science and Tech. E-JUST

Fanni, Mohamed Ahmed Egypt-Japan Univ. of Science and Tech. E-JUST

Mohamed, Abdelfatah Egypt-Japan Univ. of Science and Tech. E-JUST

14:15-14:35 FrBT2.4 Realizing 1D Robotic Catching without Prediction Based on Dynamic Compensation Concept, pp. 1629-1634.

Huang, Shouren Univ. of Tokyo Yamakawa, Yuji Univ. of Tokyo Senoo, Taku Univ. of Tokyo Ishikawa, Masatoshi Univ. of Tokyo

14:35-14:55 FrBT2.5 Temperature Control of Permanent-Magnet Synchronous Motor Using Phase Change Material, pp. 1635-1640.

Wang, Shengnan Beihang Univ Li, Yun-Ze Beihang Univ Liu, Yang Beihang Univ Zhou, Hang Beihang Univ Li, Yunhua BeiHang Univ Guo, Wei BeiHang Univ Xiao, Xi China Aviation Industry Jincheng

Nanjing Electrical and Hydrauli

14:55-15:15 FrBT2.6 Dynamic Simulation of a Novel Free-Piston Linear Generator (I), pp. 1641-1646.

Sun, Peng Univ. of Chinese Acad. of Sciences

Zhao, Fei Ningbo Inst. of Material Tech. and Engineering, CAS

Zhang, Chi Ningbo Inst. of Material Tech. and Engineering, CAS

Zhang, Jie Ningbo Inst. of Material Tech. and Engineering, CAS

Chen, Jinhua Ningbo Inst. of Material Tech. and Engineering, CAS

FrBT3 206-1 Robot Dynamics and Control II (Regular Session)

Chair: Lee, Min Cheol Pusan National Univ Co-Chair: Jabbari Asl, Hamed

Iran Univ. of Science and Tech

13:15-13:35 FrBT3.1 Design and Implementation of Model–Free PID Fuzzy Logic Control on a 4-Bar Parallel Mechanism, pp. 1647-1652.

Ren, Qun École De Tech. Supérieure, Univ. of Quebec

Bigras, Pascal École De Tech. Supérieure, Univ. of Quebec

13:35-13:55 FrBT3.2 Intrinsic UDE Control of Mechanical Systems on SO(3), pp. 1653-1658.

Liyanage, Sanka Texas Tech. Univ Berg, Jordan M. Texas Tech. Univ

Ren, Beibei Texas Tech. Univ Maithripala, D. H. S. Univ. of Peradeniya

13:55-14:15 FrBT3.3 Sensor-Minimal Motion Control of Variable Stiffness Actuators Based on the Passivity Principle and Velocity Estimation, pp. 1659-1663.

Singh, Bajwa Roodra Pratap Indian Inst. of Tech. Madras Pudureddiyur Venkataraman, Manivannan

IIT Madras

Beckerle, Philipp Tech. Univ. Darmstadt

14:15-14:35 FrBT3.4 Estimated Force Based Velocity Synchronization for Fly Touch Control in Hot Rolling Process, pp. 1664-1669.

Yoon, Sung Min Pusan National Univ Lee, Min Cheol Pusan National Univ Kim, Sung Jin Pusan National Univ Kim, Hyun Hee Pusan National Univ Cha, Keum Gang Pusan National Univ

14:35-14:55 FrBT3.5 Vision-Based Control of a Flying Robot without Linear Velocity Measurements, pp. 1670-1675.

Jabbari Asl, Hamed Gyeongsang National Univ Yoon, Jungwon Gyeongsang National Univ

14:55-15:15 FrBT3.6 Dynamic Multi-Obstacles Avoidance of a Robot Manipulator Based on Repulsive Vector Summation for Human-Robot Co-Works, pp. 1676-1681.

Luo, Ren National Taiwan Univ Chung, Yi-Ting National Taiwan Univ

FrBT4 206-2 High Frequency Research for Industrial Application (Organized Session)

Chair: Kim, Heeje Pusan National Univ Co-Chair: Kim, Sungshin Pusan National Univ Organizer: Kim, Heeje Pusan National Univ

13:15-13:35 FrBT4.1 Optimization of 4Hz Medical Ruby Laser Power System with Dual Cavities Using Multi-Resonant Converter (I), pp. 1682-1685.

Lee, Jae Cheol Department of Electrical Engineering, Pusan National

Univ Kim, Heeje Pusan National Univ

13:35-13:55 FrBT4.2 High Power Ultrasonic Transducer with LLCC Resonant Converter Using Digital Control Algorithm (I), pp. 1686-1689.

Jeong, DongKeun Pusan National Univ Kim, JongHyun Korea Electrotechnology Res.

Inst Kim, Ho-Sung KERI Baek, JuWon Korea Electrotechnology Res.

Inst Kim, Heeje Pusan National Univ

13:55-14:15 FrBT4.3 High-Voltage Input Power Supply for Modular Multi-Level Converter (I), pp. 1690-1693.

Yun, Hyeok-Jin Pusan National Univ Kim, Ho-Sung KERI Kim, Heeje Pusan National Univ

14:15-14:35 FrBT4.4 Research on the Medical Nd: YAG Laser Power System Using

LLC Resonant Converter (I), pp. 1694-1698. Zheng, Tao PUSAN NATIONAL Univ Kim, Heeje Pusan National Univ

14:35-14:55 FrBT4.5 Optimal Tissue Heating Characteristics for Cancer Cell Treatment (I), pp. 1699-1700.

Kim, Heeje Pusan National Univ FrBT5 207-1 Underwater Robotics (Regular Session)

Chair: Santhakumar, Mohan IIT Indore Co-Chair: Takesue, Naoyuki Tokyo Metropolitan Univ

13:15-13:35 FrBT5.1 A Novel Method to Generate Three-Dimensional Paths for Vehicles with Bounded Pitch and Yaw, pp. 1701-1706.

Wehbe, Bilal American Univ. of Beirut Shammas, Elie American Univ. of Beirut Asmar, Daniel American Univ. of Beirut

13:35-13:55 FrBT5.2 Robust PID Control for Position Tracking of an Underwater Manipulator, pp. 1707-1712.

Mohan, Santhakumar Asst. Prof (Indian Inst. of Tech. Indore, Indore)

Kim, JinWhan KAIST

13:55-14:15 FrBT5.3 Robust Nonlinear Task Space Position Tracking Control of an Autonomous Underwater Vehicle-Manipulator System, pp. 1713-1718.

Londhe, Pandurang SGGS Nanded Santhakumar, Mohan IIT Indore Patre, Balasaheb SGGS Inst. of Engineering and

Tech. Nanded Waghmare, Laxman SGGS Nanded

14:15-14:35 FrBT5.4 Proposal of Miniature Aquatic Robot Utilizing Resonance of Elastic Plate (I), pp. 1719-1724.

Takesue, Naoyuki Tokyo Metropolitan Univ Mitsuzumi, Takashi Tokyo Metropolitan Univ Nagasawa, Mikiro Tokyo Metropolitan Univ

14:35-14:55 FrBT5.5 Method of Position Measurement for Stationary Sensor Node Based on Marine Tag, pp. 1725-1730.

Ono, Akihito Kagawa Univ Takahashi, Satoru Kagawa Univ Kawabata, Kuniaki RIKEN Suzuki, Tsuyoshi Tokyo Denki Univ Takemura, Fumiaki Okinawa National Coll. of Tech

FrBT6 207-2 Telerobotics (Organized Session)

Chair: Ryu, Jee-Hwan Korea Univ. of Tech. and Education

Co-Chair: Liu, Yen-Chen National Cheng Kung Univ Organizer: Ryu, Jee-Hwan Korea Univ. of Tech. and

Education Organizer: Yang, Gi-Hun KITECH Organizer: Hwang, Jung-Hoon

Korea Eletronics Tech. Inst

Organizer: Shin, Eun-Cheol Korea Inst. of Indutrial Tech

13:15-13:35 FrBT6.1

Network Formulation and Stability Improvement of a Bilateral Teleoperation System with Admittance-Type Master Interfaces (I), pp. 1731-1736.

Nabeel, Muhammad Korea Univ. of Tech. and Education

Jafari, Aghil Korea Univ. of Tech. and Education

Ryu, Jee-Hwan Korea Univ. of Tech. and Education

13:35-13:55 FrBT6.2 Simulation and Implementation of Bilateral Teleoperated Needle Insertion Via an Endoscope (I), pp. 1737-1743.

Janssens, Jérôme Univ. Libre De Bruxelles (ULB) Catoire, Laurent Univ. Libre De Bruxelles Torfs, Serge Univ. Libre De Bruxelles Kinnaert, Michel Univ. Libre De Bruxelles

13:55-14:15 FrBT6.3 Estimation of Human Arm Impedance in Accordance with the Master Device Types and Gripping Posture (I), pp. 1744-1748.

Shin, Eun-Cheol Korea Inst. of Indutrial Tech Yang, Gi-Hun KITECH Ryu, Jee-Hwan Korea Univ. of Tech. and

Education

14:15-14:35 FrBT6.4 A Novel Wireless Vibrotactile Display Device for Representing 3DOF Force Feedback in Teleoperation (I), pp. 1749-1753.

Won, Jongha Sungkyunkwan Univ Yang, Gi-Hun KITECH Jeon, Jae Wook Sungkyunkwan Univ

14:35-14:55 FrBT6.5 Reaction Force Estimation of Hydraulic Servo System Using Sliding Perturbation Observer (I), pp. 1754-1759.

Cha, Keum Gang Pusan National Univ Yoon, Sung Min Pusan National Univ Kim, Hyun Hee Pusan National Univ Gim, Ki-Yeon Pusan National Univ Lee, Min Cheol Pusan National Univ

14:55-15:15 FrBT6.6 Design and Implementation of a Three-Axis Force Sensor for Applications to Bilateral Teleoperation Systems (I), pp. 1760-1765.

Khong, Mun-Hooi National Cheng Kung Univ Liu, Yen-Chen National Cheng Kung Univ

FrBT7 208-1 Service Robots (Regular Session)

Chair: Naruse, Keitaro Univ. of Aizu Co-Chair: Zhang, Xinyu East China Normal Univ

13:15-13:35 FrBT7.1 Immersive VR Interface for Informationally Structured Environment, pp. 1766-1771.

Pyo, Yoonseok Kyushu Univ Tsuji, Tokuo Kyushu Univ Hashiguchi, Yuuka Kyushu Univ Kurazume, Ryo Kyushu Univ

13:35-13:55 FrBT7.2 The Concept, Configuration and Operation Procedure of the Energy Management System for Mobile Devices Via Wireless Charging Robot, pp. 1772-1777.

Nakamura, Sousuke Chuo Univ Suzuki, Taito Chuo Univ Hashimoto, Shun Chuo Univ

Hashimoto, Hideki Chuo Univ

13:55-14:15 FrBT7.3 Balancing Control Application Using Gyroscopic Effect to a Hand-Carried One-Wheel Cart, pp. 1778-1782.

Ha, Minsoo Chungnam Ntional Univ Jung, Seul Chungnam National Univ

14:15-14:35 FrBT7.4 Predicting the Disconnection of Flocking Agents in a Swarm, pp. 1783-1788.

Naruse, Keitaro Univ. of Aizu

14:35-14:55 FrBT7.5 ROSBOT: A Low-Cost Autonomous Social Robot, pp. 1789-1794.

Fu, Guohe East China Normal Univ Zhang, Xinyu East China Normal Univ

14:55-15:15 FrBT7.6 3D Reconstruction of Complex Weld Geometry Based on Adaptive Sampling, pp. 1795-1800.

Keshmiri, Soheil National Univ. of Singapore Tan, Yan Zhi National Univ. of Singapore Ahmed, Syeda Mariam National Univ. of Singapore Wu, Yue National Univ. of Singapore Chew, Chee Meng National Univ. of Singapore Pang, Chee Khiang National Univ. of Singapore

FrInvited_Session 201 & 202 Invited Session III (Invited Session)

Chair: Jung, Seul Chungnam National Univ

15:30-16:30 FrInvited_Session.1 Space Robotics Activities at HIT*.

Liu, Hong Harbin Inst. of Tech